Programming with Articulated Objects

本项目的目的是研究控制 执行复杂动作的铰接对象。 运动分析 将从计算的角度来看， 由指定扭矩的协调过程指导的动作 和物体上的力来完成有目的的行为。 的 项目将研究当对象具有多个 自由度，当任务缺乏精确的规范时，当 不可预测的事件和与其他对象的交互是 当行为的后果不能被理解时， 在执行动作之前精确地确定。 该项目将强调以下基本原则： 编程复杂的物理对象。 表示方法 对象，指定任务，以及对行动的推理将是 处理。 自适应、事件驱动控制的技术 将研究并发运动功能。 特别 重点将放在协调和方法， 保持稳定和平衡。 这项工作将有助于 正在进行的系统设计，其中行动理论和 控制可以很容易地构成为计算过程， 在模拟中进行了经验测试。 物理对象模拟器 牛顿将被用来完成这项工作。

The objective of this project is to study the control of articulated objects performing complex actions. Motion analysis will be approached from a computational perspective viewing actions as directed by coordinated processes that specify torques and forces on objects to accomplish purposive behavior. The project will study the problems that arise when objects have many degrees of freedom, when tasks lack precise specification, when unpredictable events and interactions with other objects are commonplace, and when the consequences of actions cannot be precisely determined before the action is performed. The project will emphasize fundamental principles for programming complex physical object. Methods for representing objects, specifying tasks, and reasoning about actions will be addressed. Techniques for adaptive, event driven control of concurrent motor functions will be investigated. Particular emphasis will be placed on coordination and methods for maintaining stability and balance. The work will contribute to the ongoing design of a system in which theories of action and control can be easily posed as computational processes and empirically tested in simulation. The physical object simulator Newton will be used to accomplish the work.