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首页> 外文会议>Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on >A geometric approach to task understanding and playback: compact and robust task description for complex environments
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A geometric approach to task understanding and playback: compact and robust task description for complex environments

机译：理解和回放任务的一种几何方法：针对复杂环境的紧凑而强大的任务描述

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摘要

The ability to execute similar tasks in various environments is important for robot systems, but there are few approaches for doing this. We recently proposed a "teaching by showing" system that recognizes teaching tasks and executes corresponding tasks in different environments. The teaching task is recognized from geometrical constraint and translated into a general task description (GTD). However, this method is difficult to apply in complex environments because of redundancy an description and lack of generalization. This paper presents an algorithm for both two- and three-dimensional environments that solves these problems. The improved GTD describes tasks in complex environments very compactly. It ignores objects that do not affect the task, which adds a useful robustness to the system.
机译：在各种环境中执行类似任务的能力对于机器人系统很重要，但是执行此操作的方法很少。我们最近提出了一种“展示教学”系统，该系统可以识别教学任务并在不同的环境中执行相应的任务。从几何约束中识别教学任务，并将其转换为一般任务描述（GTD）。但是，由于描述繁琐且缺乏概括性，因此该方法难以在复杂的环境中应用。本文提出了一种用于二维和三维环境的算法，可以解决这些问题。改进的GTD非常紧凑地描述了复杂环境中的任务。它会忽略不影响任务的对象，从而为系统增加了有用的鲁棒性。

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