Towards Task Level Robot Programming
{'Code': '05020000', 'Directorate': {'Abbreviation': 'CSE', 'LongName': 'Direct For Computer & Info Scie & Enginr'}, 'Division': {'Abbreviation': 'IIS', 'LongName': 'Div Of Information & Intelligent Systems'}}
{'SignBlockName': 'Joyce'}
The overall objective of this research is to develop                       a task level geometrical planning theory for representing,                      reasoning about, and manipulating physical systems.  A specific                 goal of this work is the generation of assembly strategies from                 task - level descriptions.  The investigation will concentrate on               the following problems:                                                             + Algorithmic techniques for modeling geometric constraints,                      and the planning of robot motions using these constraints.                    + The synthesis of compliant motion programs using the                            geometric constraints imposed by the task.                                    + The explicit modeling of uncertainty and error is sensing,                      control, and the shape of the manipulated part.                               + The development of a precise theory of error diagnosis and                      recovery, and a method for generating sensor-based plans                        with built-in detection and recovery.
{'FirstName': 'Bruce', 'LastName': 'Donald', 'EmailAddress': 'brd+nsf09@cs.duke.edu', 'StartDate': '07/01/1988', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'Cornell University', 'CityName': 'Ithaca', 'ZipCode': '148502820', 'PhoneNumber': '6072555014', 'StreetAddress': '373 Pine Tree Road', 'CountryName': 'United States', 'StateName': 'New York', 'StateCode': 'NY'}
{'Code': '6840', 'Text': 'ROBOTICS'}
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1988&All=true', 'xml': '8802390.xml'}