Natural task decomposition with intrinsic potential fields

— Any given task can be solved in a number of ways, whether through path-planning, modeling, or control techniques. In this paper, we present a methodology for natural task decomposition through the use of intrinsically meaningful potential fields. Specifically, we demonstrate that using classical conditioning measures in a concurrent control framework provides a domain-general means for solving tasks. Among the conditioning measures we use are manipulability [1], localizability [2], and range of motion. To illustrate the value of our approach we demonstrate its applicability to an industrially relevent inspection task.

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Stephen Hart, Roderic A. Grupen
• Keywords: Classical Conditioning Measures, Conditioning Measures, IROS 2007, Natural Task Decomposition, Robotics