Programming with Articulated Objects

这个项目的目标是研究执行复杂动作的铰接对象的控制。运动分析将从计算的角度来看待由协调过程指导的动作，这些过程指定了物体上的扭矩和力，以完成有目的的行为。该项目将研究以下情况下出现的问题：对象有多个自由度，任务缺乏精确的规范，不可预测的事件和与其他对象的交互是司空见惯的，以及在执行动作之前无法精确确定动作的后果。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、指定任务和对操作进行推理的方法。研究并发运动功能的自适应、事件驱动控制技术。将特别强调协调和保持稳定和平衡的方法。这项工作将有助于正在进行的系统设计，在这个系统中，行动和控制的理论可以很容易地作为计算过程提出，并在模拟中进行经验检验。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.