Experimental task analysis

Rigorous analysis and evaluation of real implemented robotic systems for intelligent tasks are rarely performed. Such systems are often extremely complicated , depending not only onìnteresting' theoretical parameters and models, but on many assumptions and constants which may be set almost arbitrarily. We view all task implementations as particular parame-terizations of the task goals they represent. Through fractional factorial experiments we establish the statistically signiicant parameters and parameter interactions for a `sensorless' model-based push-orienting task. This type of analysis is a necessary step to understanding integrated intelligent systems. It reveals aspects of system implementations which cannot easily be predicted in advance, and gives a clear picture of the task requirements, given the strengths and weaknesses of the observed system.