作業目標レベルのロボット言語の設計と試作

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概要

• 論文の詳細を見る

• This paper describes a very high level robot language processor for the blocks world which consists of task-oriented level and object-oriented level, and shows a "build arch" example.<BR>At first, the task-oriented level processor translates its input like"build arch"into the concrete goal state descriptions as its output by referring to knowledge about the goal task in the concept model. Then, the object-oriented level processor translates the goal state descriptions into the source code of the motion level processor AL/L by making task plans automatically and computing the position and the orientation of each object.<BR>If a concept of the goal task is predefined in the concept model, these processors can expand the goal task into the source code of AL/L. Therefore human programmers can write their programs without considering the details of the environment and the robot.

• 一般社団法人 日本ロボット学会の論文

著者

• 岡野 彰

  東京大学工学部

• 井上 博允

  Department of Mechanical Engineering, Faculty of Engineering, University of Tokyo

• 松原 仁

  東京大学工学部

関連論文

• 作業目標レベルのロボット言語の設計と試作

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