Sensorimotor Primitives for Robotic Assembly Skills

  title={Sensorimotor Primitives for Robotic Assembly Skills},
  author={J. Daniel Morrow and Pradeep K. Khosla},
Many researchers are interested in developing robust, skill-achieving robot programs. We propose the development of asensorimotor primitive layer which bridges the gap between the robot/sensor system and a class of tasks by providing useful encapsulations of sensing and action. Skills can then be constructed from this library of sensordriven primitives. This reflects a move away from the separation of sensing and action in robot programming of task strategies towards the integration of sensing… CONTINUE READING