Framework for Learning and Control in Intelligent Humanoid Robots

摘要

Future application areas for humanoid robots range from the household, to agriculture, to the military, and to the exploration of space. Service applications such as these must address a changing, unstructured environment, a collaboration with human clients, and the integration of manual dexterity and mobility. Control frameworks for service-oriented humanoid robots must, therefore, accommodate many independently challenging issues including: techniques for configuring networks of sensorimotor resources; modeling tasks and constructing behavior in partially observable environments; and integrated control paradigms for mobile manipulators. Our approach advocates actively gathering salient information, modeling the environment, reasoning about solutions to new problems, and coordinating ad hoc interactions between multiple degrees of freedom to do mechanical work. Representations that encode control knowledge are a primary concern. Individual robots must exploit declarative structure for planning and must learn procedural strategies that work in recognizable contexts. We present several pieces of an overall framework in which a robot learns situated policies for control that exploit existing control knowledge and extend its scope. Several examples drawn from the research agenda at the Laboratory for Perceptual Robotics are used to illustrate the ideas.