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


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
Number of pages16
ISBN (Print)9783540257288
StatePublished - 2005
Externally publishedYes

Publication series

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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