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86 ‚óŹ Exploratory Workshop on the Social Impacts of Robotics

correspondence

with

the

observation.

Each computational unit in the processing, and world modeling

task

decomposition,

hierarchies

can

be

sensory represent-

ed as a finite–state unit reads its input

machine. and based

computes an output with a very

At each time increment, on its present internal short time delay.

each state

If the output of each unit in the

task

decomposition

hierar-

chy

is

vector

described as

a vector,

and

space,

a

behavioral

hierarchy

plotted such as

versus time in a is shown on the

right side of Figure level goal, or task, the highest level in

2 results.

In this

illustration a high

(BUILD

SUBASSEMBLY

ABCD)

is

input

to

a

robot

control

hierarchy.

The

H5

task

decomposition subtasks, of

unit breaks this task down into a which (ASSEMBLE AB) is the first.

plex” tion

subtask command is then sent to the

unit.

H4

decomposes

this

“complex”

H4 task subtask

quence

of

“simple”

subtasks

(FETCH A),

A),

FASTEN

each

of the

B

to A).

“simple”

The H3 unit, subtasks into a

(FETCH B), subsequently

string

of

series of This “com- decomposi- into a se- (MATE B to decomposes “elemental

moves” of (REALEASE), string of

the form etc. The trajectory

(REACH TO A), (GRASP), (MOVE to X), H2 decomposition unit then computes a segments in a coordinate system fixed

in the piece

work space, itself.

or in the robot

These

trajectory

hand, or in the work segments may include ac-

celeration,

velocity,

robot

motion.

In

H1,

and each

deceleration profiles for the of these trajectory segments are

transformed into tors are servoed

joint angle to execute

movements and the joint actua- the commanded motions.

At each level,

the G

information

needed

units select the by the H modules

appropriate feedback in the task decomposi-

tion hierarchy. pected values, knowledge about

The M units generate of the sensory data the environment in the

predictions>

or

ex-

based context

on of

the stored

the

task

being executed.

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