Programming with Articulated Objects

本项目的目标是研究执行复杂动作的铰接物的控制。运动分析将从计算的角度进行，观察由协调过程指导的动作，该协调过程指定对象上的力矩和力以实现有目的的行为。该项目将研究当物体具有多个自由度时，当任务缺乏精确规范时，当不可预测的事件和与其他物体的互动司空见惯时，以及当动作的后果在执行之前无法准确确定时出现的问题。该项目将强调编程复杂物理对象的基本原则。将讨论表示对象、指定任务和对动作进行推理的方法。将研究用于并发电机功能的自适应、事件驱动控制的技术。将特别强调保持稳定和平衡的协调和方法。这项工作将有助于正在进行的系统设计，在该系统中，行动和控制理论可以很容易地被设定为计算过程，并在模拟中进行经验测试。将使用物理对象模拟器牛顿来完成这项工作。

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.