Abstract
In this paper we describe the framework of an object-oriented knowledge base to facilitate automatic robot programming. In this framework, we take the object data model as the basis for knowledge representation, and utilize the knowledge in transforming high-level task descriptions to robot programs. In contrast to most current approaches, which are heuristic in nature, we show that robot assembly problems can be regarded as a subclass of the general planning problem and can be synthesized in a non- ad hoc way.
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