The Task Matrix Framework for Platform-Independent Humanoid Programming

Evan Drumwright, Victor Ng-Thow-Hing, Maja Mataric
2006 2006 6th IEEE-RAS International Conference on Humanoid Robots  
Programming humanoid robots is such a difficult endeavor that the focus of the effort has recently been on semiautomated methods such as programming-by-demonstration and reinforcement learning. However, these methods are currently constrained by algorithmic or technological limitations. This paper discusses the Task Matrix, a framework for programming humanoid robots in a platform independent manner, that makes manual programming viable by the provision of software reuse. We examine the Task
more » ... rix and show how it can be used to perform both simple and complex tasks on two simulated humanoid robots.
doi:10.1109/ichr.2006.321291 dblp:conf/humanoids/DrumwrightNM06 fatcat:qdbgzd3fyvbfrpinh5qbqxmfwm