Towards Task Level Robot Programming

这项研究的总体目标是发展一种任务级几何规划理论，用于表示、推理和操纵物理系统。这项工作的一个具体目标是从任务级描述生成组装策略。研究将集中在以下问题上：+几何约束建模的算法技术，以及使用这些约束来规划机器人运动。+使用任务施加的几何约束合成符合要求的运动程序。+不确定性和误差的显式建模是传感、控制和被操纵部件的形状。+开发了错误诊断和恢复的精确理论，以及生成具有内置检测和恢复功能的基于传感器的计划的方法。

The overall objective of this research is to develop a task level geometrical planning theory for representing, reasoning about, and manipulating physical systems. A specific goal of this work is the generation of assembly strategies from task - level descriptions. The investigation will concentrate on the following problems: + Algorithmic techniques for modeling geometric constraints, and the planning of robot motions using these constraints. + The synthesis of compliant motion programs using the geometric constraints imposed by the task. + The explicit modeling of uncertainty and error is sensing, control, and the shape of the manipulated part. + The development of a precise theory of error diagnosis and recovery, and a method for generating sensor-based plans with built-in detection and recovery.