Multi-step motion planning for free-climbing robots

Tim Bretl, Sanjay Lall, Jean Claude Latombe, Stephen Rock

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

This paper studies non-gaited, multi-step motion planning, to enable limbed robots to free-climb vertical rock. The application of a multi-step planner to a real free-climbing robot is described. This planner processes each of the many underlying one-step motion queries using an incremental, sample-based technique. However, experimental results point toward a better approach, incorporating the ability to detect when one-step motions are infeasible (i.e., to prove disconnection). Current work on a general method for doing this, based on recent advances in computational real algebra, is also presented.

Original languageEnglish (US)
Title of host publicationAlgorithmic Foundations of Robotics VI
PublisherSpringer
Pages59-74
Number of pages16
ISBN (Print)9783540257288
DOIs
StatePublished - 2005
Externally publishedYes

Publication series

NameSpringer Tracts in Advanced Robotics
Volume17
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

Fingerprint

Dive into the research topics of 'Multi-step motion planning for free-climbing robots'. Together they form a unique fingerprint.

Cite this