Title :
An operation space approach to robotic excavation
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
A methodology for automatically generating robot actions for tasks that cannot be abstracted into a geometrical basis because of complex interaction between the robot and the world is proposed. The method considers such a task, robotic excavation, by seeking to satisfy constraints posed by the robot and the world to generate plans that optimize an arbitrary cost function. The constraints, the optimizing scheme, and preliminary simulation results are discussed
Keywords :
excavators; optimisation; planning (artificial intelligence); robots; arbitrary cost function; operation space; optimisation; planning; robot; robotic excavation; simulated annealing; task generation; Automatic control; Automatic generation control; Constraint optimization; Cost function; Optimization methods; Orbital robotics; Path planning; Robotics and automation; Robots; Strategic planning;
Conference_Titel :
Intelligent Control, 1991., Proceedings of the 1991 IEEE International Symposium on
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-0106-4
DOI :
10.1109/ISIC.1991.187404
