An Approach to Specifying Fine Manipulation Tasks for Intelligent Robots

经验证明，利用机器人进行操作任务 比工程师们预期的要困难得多， 在自动化需要机器人操作的任务方面已经失败了。 我们 研究使我们相信，一个正式的方法来指定 操纵任务所需的步骤对于开发 特定任务所需的软件，并自适应地 控制和监控机器人操作。 我们定义了14 基元操作的基础上减少的程度 当组件被组装或操纵时出现的自由度， 从我们最初的实验来看，这些原始人似乎 优雅而完整地定义了 简单的组装任务。 每个原语都有一个策略 与其执行相关联，以及一组恢复算法， 操作失败的事件。 本文提出的工作将扩大 进一步检验基本概念。 “按约束操纵”可以 被认为是一种表示所需知识的方法， 组装或操纵物体。

Experience has proven that exploiting robots for manipulation tasks is much more difficult than engineers had expected and many attempts at automating tasks requiring robotic manipulation have failed. Our research has led us to believe that a formal approach to specifying the steps required for manipulation tasks is essential to developing the required software for a specific task, and in adaptively controlling and monitoring robotic operations. We have defined 14 primitive operations based on the reduction in the degrees of freedom which occurs when components are assembled or manipulated, and from our initial experiments, these primitives appear to elegantly and completely define the fine manipulation required for simple assembly tasks. Each of the primitives has a strategy associated with its execution, and a set of recovery algorithms in the event the operation fails. The work herein proposed will expand and further test the basic concepts. Manipulation By Constraint can be thought of as an approach to representing the knowledge required to assemble or manipulate objects.