Rapid prototyping for series of tasks in atypical environment: robotic system with reliable program-based and flexible learning-based approaches

ROBOMECH Journal

Table 1 Categorization of robot functions based on therbligs

	(1) Perception	(2) Motion	(3) Sensorimotor
(a) Basic motion	Search Inspect Select Plan	Grasp Release load Transport empty Transport load	Position Use Assemble Disassemble
(b) Key function of robot control	Image recognition Object detection Position estimation	Point-to-point motion Interference avoidance	Learning-based motion generation