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25.1 ??. ???????????(robot)????????????????,????????????????????,??????????????????????????????;??????????????????????? . 25.2 ??:????????? . ?????????????????????,???????????????????????????????????????,??????????????????(???????)? . ???????? . ????????????????????????????????????,???1954?Geo

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25.1

25.2 :?

25.3 :?

25.4

25.5 :

25.6


25.1

robot


25.2


1954George Devol150Jacquard


mobots3000mailmobile


Chernobyl


/


1969Quadrupedal Walking Machine11300Ralph Mosher


25.3

end effectors


actuatordegree of freedom


locomotion



manipulation

manipulatorkinematics


end effector


24


Proprioception

4encodersmils




sonarSOund NAvigation and Ranging


24domain constraints


25.73-D


25.4


1960Shakey


situated automata

finite-state machine


Rosenschein25.9feedforward circuit


25.10Brooks1986


25.5

3


Cconfiguration space obstacleOC OF


c1c2c1c1F25.11


assembly planning


recognizable set


25.6

cell decomposition

skeletonizatoin

bounded-error planning

landmark-based navigation

online algorithms


F

1.Fcells

2.adjacency graph

3.

4.


F25.12

F-2-25.13


skeletonizationskeleton


1.SFSF

2.Fp


fine-motion planningFMPFMPFMP


landmark modellandmarksfield of influence


25.22


conditional plan13policy17online algorithm


1.ll

2.QQl

3.QP0P0P0P0l


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