Design and implementation of a task-oriented robot language
Abstract:This paper describes a very high-level language processor for the block world, consisting of a task-oriented level and an object-oriented level. The command 'build arch' is taken as an example. First, the task-oriented-level processor translates the input (e.g. build arch) into an output description of the concrete goal state by referring to knowledge about the goal task in the concept model. The object-oriented-level processor then translates the description oT the goal state into the source code of the motion-level processor AL/L by automatically making task plans and computing the position and orientation of each object. If the concept of a goal task is pre-defined in the concept model, these processors can expand the goal task into the AL/L source code. As a result, human programmers do not need to consider the details of the environment or of the robot.
Document Type: Research Article
Affiliations: 1: IBM Research, Tokyo Research Laboratory, 5-19 Sanbancho Chiyoda-ku, Tokyo, Japan 2: Electrotechnical Laboratory, 1-1-4 Umezono, Tukuba City, Japan 3: University of Tokyo 7-3-1 Hongo Bunkyo-ku, Tokyo, Japan
Publication date: 1988-01-01