A Program of Research in Robotics and Automation

物理对象表征理论的进步将 通过开发通用物理模拟来补充 系统，并通过实验室实验。 这项研究将 包括调查如何将分开， 动态交互建模系统， 几何和动态建模。 模拟系统将 在许多应用程序中使用，包括设计高级 语言结构和自动化机器人规划。 具体 调查包括高级规范方法， 物理对象和任务（包括非物理对象的此类操纵） 刚性物体打结）;模拟，与动力学， 物理系统的行为;实验室实验， 理解并验证抓握和交配策略中的想法， 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.