By Topic

Action module planning and its application to an experimental climbing robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Bevly, D.M. ; Dept. of Mech. Eng., Stanford Univ., CA, USA ; Farritor, S. ; Dubowsky, S.

This paper presents the application of an action module planning method to an experimental climbing robot named LIBRA. The method searches for a sequence of physically realizable actions, called action modules, to produce a plan for a given task. The search is performed with a hierarchical selection process that uses task and configuration filters to reduce the action module inventory to a reasonable search space. Then, a genetic algorithm search finds a sequence of actions that allows the robot to complete the task without violating any physical constraints. The results for the LIBRA climbing robot show the method is able to produce effective plans

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

Date of Conference: