We describe an approach to robot programming that supports task-oriented specifications of manipulation activities. Plan formation and program generation techniques are used to transform task specifications into executable programs for various robots. The plan formation operates on a database of knowledge about the world to produce the sequence of actions needed to execute the task. The program generation transforms the sequence of actions into an executable program using knowledge about the robot and its control system.
Bibliographical noteFunding Information:
Partial support for this work is gratefully acknowledged to the Microelectronic and Information Sciences Center at the University of Minnesota, to the Graduate School of the University of Minnesota, and to the Italian National Council of Research.
- Automatic Programming
- Knowledge bases
- Plan generation
- Robot programming