DocumentCode
2919284
Title
An operation space approach to robotic excavation
Author
Singh, Sanjiv
Author_Institution
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
fYear
1991
fDate
13-15 Aug 1991
Firstpage
481
Lastpage
486
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control, 1991., Proceedings of the 1991 IEEE International Symposium on
Conference_Location
Arlington, VA
ISSN
2158-9860
Print_ISBN
0-7803-0106-4
Type
conf
DOI
10.1109/ISIC.1991.187404
Filename
187404
Link To Document