A Program of Research in Robotics and Automation

物理对象表征理论的进步将由一般物理模拟系统的发展和实验室实验加以补充。该研究将包括调查如何将独立的、动态交互的建模系统连接在一起，包括抽象的、几何的和动态的建模器。该仿真系统将用于许多应用，包括设计高级语言结构和自动化机器人规划。具体研究包括物理对象和任务的高级规范方法（包括诸如打结等非刚性对象的操作）；用动力学模拟物理系统的行为；通过实验室实验来理解和验证抓握和配合策略、顺应运动和物理系统中的其他操作。

Advances in the theory of representation of physical objects will be complemented by development of a general physical simulation system, and by laboratory experimentation. The research will include investigation into means to link together separate, dynamically interacting modeling systems including abstract, geometric, and dynamic modelers. The simulation system will be used in a number of applications, including designing high-level language constructs and automating robot planning. Specific investigations include high-level specification methods for physical objects and tasks (including such manipulation of non- rigid objects as knot-tying); simulating, with dynamics, the behavior of physical systems; and laboratory experiments to understand and verify ideas in gripping and mating strategies, compliant motions, and other operations in physical systems.