Artificial intelligence: a modern approach
Artificial intelligence: a modern approach
Inertial properties in robotic manipulation: an object-level framework
International Journal of Robotics Research
Computer-controlled systems (3rd ed.)
Computer-controlled systems (3rd ed.)
Object oriented framework development
Crossroads
Software Paradigms
Software Engineering for Experimental Robotics (Springer Tracts in Advanced Robotics)
Software Engineering for Experimental Robotics (Springer Tracts in Advanced Robotics)
Robotics and Autonomous Systems
Application of the FraDIA vision framework for robotic purposes
ICCVG'10 Proceedings of the 2010 international conference on Computer vision and graphics: Part II
Optimization-based approach to path planning for closed chain robot systems
International Journal of Applied Mathematics and Computer Science
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In this paper we present a formal approach to robot motion specification. This motion specification takes into account three elementary behaviors that suffice to define any robot interaction with the environment, i.e. free motion, exerting generalized forces and the transition between both of these behaviors. These behaviors provide a foundation for general motion generation taking into account any sensors, any effectors and the capability to exchange information between embodied agents. This specification can be used both for the definition of robot tasks and implementation of robot control software, hence both of those aspects are presented in this paper. This formal approach was used for the implementation of the MRROC++ robot programming framework. Two-handed manipulation of a Rubik's cube is used as an exemplary task. Extensive experimentation both with the presented formalism and the MRROC++ framework showed that the imposed formal rigor eliminates many errors at the software specification phase, produces well-structured control software and significantly speeds up and simplifies its implementation. These advantages are mainly due to the fact that the proposed formal specification tool is derived from operational semantics used in computer science for the definition of programming languages, thus a close relationship between abstract definition and the implementation of the control system resulted.