Abstract
Environments where a robot executes a task are not always the same as the environment where the robot learned the task. Traditional teaching playback robots execute a task by replaying the learning trajectory. Therefore such robots can only be used in environments where location and shape of objects are always the same. Furthermore, such robots are required to learn every movement from the biginning whenever the operator gives a new task. To reduce this inconvenience, a robust form of task description that is adaptable in different environments is needed. This paper discusses a method of describing a task robustly, and also presents algorithms (1) to interprete the learning motion to a task description, (2) to modify the description to the task environment, and (3) to generate the task motion from the modified description. The system architecture using this description is also discussed. The system consists of a teaching interface, a task interpreter, a sensor module, a task planner, and a manipulator module. We installed these modules in a simple system. This achieved a good performance in a block assembly task although it was taught in a different environment.
