An Approach to Automatic Robot Programming,

reportActive / Technical Report | Accession Number: ADA159296 | Open PDF

Abstract:

This paper proposes a computer architecture for a new task-level system, which is called TWAIN. Task-level programming attempts to simplify the robot programming process by requiring that the user specify only goals for the physical relationships among objects, rather than the motions needed to achieve those goals. A task-level specification is meant to be completely robot independent no positions or paths that depend on the robot geometry or kinematics are specified by the user. There are two goals for this paper. The first is to present a more unified treatment of some individual pieces of research in task planning, whose relationship has not previously been described. The second is to provide a new framework for further research in task-planning. Additional keywords Programming languages. Author

Author(s):
Lozano-perez, T. ; Brooks, R. A.
Author Organization(s):
MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB
Supplementary Note:
Sponsored in part by contract N00014-82-K-0334.
Pagination:
0037

Security Markings

DOCUMENT & CONTEXTUAL SUMMARY

Distribution:
Approved For Public Release

RECORD

Collection: TR
Identifying Numbers
Report Number(s):
AI-M-842
Contract/Grant Number(s):
N00014-81-K-0494, N00014-80-C-0505
 Subject Terms
Joint Capability Areas:
JCA_5_Command and Control; JCA_5.3_Planning; JCA_5.5.2_Task; JCA_5.5_Direct; JCA_1.2_Force Preparation; JCA_1_Force Support; JCA_5.4_Decide; JCA_1.2.6_Concepts; JCA_5.2.2_Develop Knowledge and Situational Awareness; JCA_5.2_Understand
Modernization Areas:
Autonomy
Communities of Interest:
Autonomy
Descriptor(s):
*ROBOTS, *PROGRAMMED INSTRUCTION, *AUTOMATIC PROGRAMMING, KINEMATICS, REQUIREMENTS, SPECIFICATIONS, PROGRAMMING LANGUAGES, COMPUTER ARCHITECTURE, PLANNING, USER NEEDS, GEOMETRY
Field(s)/Group(s):
Computer Programming and Software, Computer Hardware
Keyword(s):
Task level programming
Report Date:
1985 Apr 01