How can we convert AO graph with mixed nodes into graph with pure AND and OR nodes?

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Robotics is the branch of 'engineering + computer sciences' where machines are built to perform programmed tasks without further human intervention.

Artificial intelligence is where systems emulate the human mind to learn, solve problems and make decisions on the fly, without needing the instructions specifically programmed.

Most current use cases of Robotics don’t require artificial intelligence, as the tasks performed are predictable, repetitive and don’t need additional ‘thought’.

However, robotic AI in manufacturing is soon going to be a very big thing.


How can we convert AO graph with mixed nodes into graph with pure AND and OR nodes?