II-New: Motion Grammar Laboratory

拟人化的机器人手臂和人类捕获系统能够在问题规格和环境中具有显著不确定性的装配任务的自主执行。这项工作是通过一系列操纵动作来调查的，其中任务级目标的完成的保证植根于人类操纵的语义结构的发现。在拟人机器人领域探索了新的研究方向，包括演示编程、活动识别、控制与估计和规划。运动语法实验室的基础设施为研究和教育提供了巨大的机会。为本科生和研究生提供的新课堂体验提供了机器人人类交互和活动过程共享的实践经验。这为人类训练和康复以及辅助个人机器人打开了可能性，并为一系列技术创新打开了大门。

An anthropomorphic robot arm and a human capture system enable the autonomous performance of assembly tasks with significant uncertainty in problem specifications and environments. This line of work is investigated through sequences of manipulation actions where the guarantee of the completion of task-level objectives is rooted in the discovery of the semantic structure of human manipulation. New research directions in anthropomorphic robotics are explored including programming by demonstration, activity recognition, control and estimation and planning.The motion grammar laboratory infrastructure allows a great opportunity for research and education. New classroom experiences for undergraduates and graduates provide practical experience in robot human interaction and activity process sharing. This opens possibilities for human training and rehabilitation, as well as assistive personal robotic, and opens the door to a host of technological innovations.