Facilitating Robotic Subtask Reuse by a New Representation of Parametrized Solutions

In this paper, we suggest a coherent way of representing results from experiments associated with robotic assembly. The purpose of the representation is to be able to reuse the experiments in other assembly settings. A main novelty in our representation is the inclusion of fine grained experimental uncertainties such as e.g. deviations between a sensed object pose and the actual pose, and we discuss why it is very important for the reusability of experiments to include these uncertainties. Under the reasonable assumption that we can represent the uncertainties as a region around the origin in a potentially high dimensional Cartesian space, we show that we can efficiently represent the studied deviations by storing experiments on a so called spherical lattice. We illustrate that the representation works by studying simulation experiments on two different industrial use cases involving grasping an object and mounting an object on a fixture.