Towards Task Level Robot Programming

本研究的总体目标是开发 任务级几何规划理论， 推理和操纵物理系统。 特定 这项工作的目标是生成装配策略， 任务级描述。 调查将集中在 以下问题： + 几何约束建模的数学技术， 以及使用这些约束来规划机器人运动。 + 的柔性运动程序的综合 任务所施加的几何约束。 + 不确定性和误差的显式建模是感知， 控制和操纵部分的形状。 + 精确的错误诊断理论的发展， 恢复和用于生成基于传感器的计划的方法 内置侦测和恢复功能

The overall objective of this research is to develop a task level geometrical planning theory for representing, reasoning about, and manipulating physical systems. A specific goal of this work is the generation of assembly strategies from task - level descriptions. The investigation will concentrate on the following problems: + Algorithmic techniques for modeling geometric constraints, and the planning of robot motions using these constraints. + The synthesis of compliant motion programs using the geometric constraints imposed by the task. + The explicit modeling of uncertainty and error is sensing, control, and the shape of the manipulated part. + The development of a precise theory of error diagnosis and recovery, and a method for generating sensor-based plans with built-in detection and recovery.