Abstract
This paper proposes a framework for a robot system to actively evaluate its realizability for a specific task based on its representation space. The representation space (R-space) of a robot system could be constructed to describe the distributions of system attributes (called representation), whose transitions reflect the process of task realization. All factors blocking transitions of the system representation, hence the task realization, including physical configurations of the robot system and environmental constraints, are defined as unreachable areas in the R-space, specifying the limitation of the system's capability to execute the prescribed task. The reachable area in the R-space, showing the representations that the robot system could be of, is figured out to formalize the criteria for task realizability. The potential optimal scheme to accomplish a realizable task can further be recognized from the shortest path that the robot representation transits along. Otherwise, causes for unrealizable tasks are investigated to suggest clues for transforming the tasks to be realizable ones. Meanwhile, conditions and the total cost to fix unrealizable tasks are compared to make out the best strategy under the given cost index, if there is more than one scheme. The proposed framework is applied to the typical task of path planning for a robot manipulator and parking task of a mobile robot to show its effectiveness as well as its performance.
Highlights
One of the constructive goals of robotics is to enable a robot to actively and autonomously achieve various tasks without frequent human intervention [1]
Most of the robot systems are generally designed for specific applications, such as industrial productions, environmental monitoring or entertainment, etc..When a robot is allocated a specific task, it implies that the task is realizable by the robot available with particular configurations of sensor and actuation
This paper has proposed a framework to evaluate task realizability based on the affiliated representation space (R-space)
Summary
One of the constructive goals of robotics is to enable a robot to actively and autonomously achieve various tasks without frequent human intervention [1]. A task is evaluated to be realizable if both the start representation X S and the goal one X G are locating inside the reachable area of the R-space. The R-space of the robot to conduct the task is updated and shown in Fig. 3 after removing both obstacle and physical constraints. C. REALIZABILITY TRANSFORMATION OF THE UNREALIZABLE TASKS Inherent reasons for a task to be unrealizable by a robot of specific configurations are gradually recognized by step-bystep removing constraints in its affiliated R-space. REALIZABILITY TRANSFORMATION OF THE UNREALIZABLE TASKS Inherent reasons for a task to be unrealizable by a robot of specific configurations are gradually recognized by step-bystep removing constraints in its affiliated R-space This is not a general solution to fix unrealizable tasks. It might be more convincible to release any constraints
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
