The task matrix framework for platform independent humanoid programming

Abstract — 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 Matrix and show how it can be used to perform both simple and complex tasks on two simulated humanoid robots. I

M.J.Mataric´, ‘Toward a vocabulary of primitive task programs for humanoid robots

Abstract — Researchers and engineers have used primitive actions to facilitate programming of tasks since the days of Shakey [1]. Task-level programming, which requires the user to specify only subgoals of a task to be accomplished, depends on such a set of primitive task programs to perform these subgoals. Past research in this area has used the commands from robot programming languages as the vocabulary of primitive tasks for robotic manipulators. We propose drawing from work measurement systems to construct the vocabulary of primitive task programs. We describe one such work measurement system, present several primitive task programs for humanoid robots inspired from this system, and show how these primitive programs can be used to construct complex behaviors. Index Terms — robot programming, task-level programming, humanoid robots I