989 B
989 B
This article does a good job in describing the different levels of abstraction within a robotic system. The key takeaways for me are:
- In a robot there must be a high level feedback loop (not control systems) within the robot that does not require human input, else it is a machine.
- A robot operates in the physical world. A chat-bot is not a robot.
- Several layers of abstractions can be used to define robotic behavior:
- Functional layer: control, raw sensory perception, actuation and speech generation (move arm to position XY, apply force Z)
- Behavioral layer: motion planning, navigation and making sense of language (open the door --> which makes use of the functional layer)
- Abstract layer: Task and behavior planning (Behaviour Trees or Finite State Machines), Semantic Understanding and Reasoning (What is our environment made of, can I interact with it? What do I want to achieve and what can I do to succeed?)