TY - CHAP
T1 - Multi-step motion planning for free-climbing robots
AU - Bretl, Tim
AU - Lall, Sanjay
AU - Latombe, Jean Claude
AU - Rock, Stephen
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84880143375
UR - https://www.scopus.com/pages/publications/84880143375#tab=citedBy
U2 - 10.1007/10991541_6
DO - 10.1007/10991541_6
M3 - Chapter
AN - SCOPUS:84880143375
SN - 9783540257288
T3 - Springer Tracts in Advanced Robotics
SP - 59
EP - 74
BT - Algorithmic Foundations of Robotics VI
PB - Springer
ER -