Robotic Task Realizability in Representation Space

Abstract

The representation space (R-Space) is proposed and constructed for a robot system to evaluate its feasibility to a prescribed task. The process of a task realization is transformed to be a process that the system representations transit in its Rspace. All factors affecting the task realization, including system configurations and physical and environmental constraints, are denoted as unreachable areas in the R-space, indicating the limitation for the system to accomplish the task. Reachable area in the R-space formalizes the criteria for task realizability. And the optimal strategy to fulfil a realizable task can further be identified. Otherwise, causes for unrealizability are clarified to transform the task to be realizable. The proposed framework is applied to different robotic tasks to show the validity as well as its performance.