An approach to task understanding and playback toward complex environments

Our study is on a task description for recognizing a teaching task and applying the task in a different environment. The task is described by a sequence of task states defined for areas generated by segmenting the configuration space. The teaching motion taught by the operator is transferred into a sequence of task states based on the teaching environment. When executing the task, the system observes the task environment, maps the task states to those of the environment, and generates a new task motion. This paper introduces a general description for robotic assembly task that is applicable to complex environments