Planning robot movements in an unstructured environment is investigated from the point of view of common sense reasoning as the simulation of a complex dynamical system. We first show how motor redundancy can be solved by simulating passive motion (what we call Passive Motion Paradigm). We then extend this concept in terms of Abstract Force Fields, that allow expression of a variety of problems in addition to trajectory formation (force/position control, obstacle avoidance, concurrent tasks, etc.). Furthermore, we define the notion of Hybrid Motor Schema as the composite ensemble of an analogic component (which consists of the “mental” simulation of model dynamics) and a symbolic component (which contains rules and methods for instantiating the analogic component in a given context: goal, environment, expectations, constraints, ..). The paper then describes in more detail two specific analogic models in motion planning. The first is a connectionist formulation of motor planning for a redundant anthropomorphic structure (M - nets). The second is a general framework for planning sequences of actions for assembling objects. Simulation results of preliminary implementations are presented.
Analogic Models for Robot Programming
R. Zaccaria;P. Morasso;G. Vercelli
1993-01-01
Abstract
Planning robot movements in an unstructured environment is investigated from the point of view of common sense reasoning as the simulation of a complex dynamical system. We first show how motor redundancy can be solved by simulating passive motion (what we call Passive Motion Paradigm). We then extend this concept in terms of Abstract Force Fields, that allow expression of a variety of problems in addition to trajectory formation (force/position control, obstacle avoidance, concurrent tasks, etc.). Furthermore, we define the notion of Hybrid Motor Schema as the composite ensemble of an analogic component (which consists of the “mental” simulation of model dynamics) and a symbolic component (which contains rules and methods for instantiating the analogic component in a given context: goal, environment, expectations, constraints, ..). The paper then describes in more detail two specific analogic models in motion planning. The first is a connectionist formulation of motor planning for a redundant anthropomorphic structure (M - nets). The second is a general framework for planning sequences of actions for assembling objects. Simulation results of preliminary implementations are presented.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.