Visualization and analysis for reorganization of task-and-environmental information structure for robot program

Reusability of a robot program in different environments for a different robot is one of key issues for robotics. Since information structures of a task and environments at programming phase and the information structures at execution phase of a robot program is usually different, it is sometimes difficult to use the program, which is executable in an environment at programming phase, in different environments at execution phase. In this paper, we describe how to visualize, understand and reorganize information structure of a task and an environment at programming phase in order to adjust them to different environments and reuse them at execution phase.