Action module planning and its application to an experimental climbing robot

David M. Bevly; Shane Farritor; Steven Dubowsky

doi:10.1109/ROBOT.2000.845356

Action module planning and its application to an experimental climbing robot

David M. Bevly, Shane Farritor, Steven Dubowsky

Mechanical & Materials Engineering

Research output: Contribution to journal › Article › peer-review

31 Scopus citations

Abstract

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.

Original language	English (US)
Pages (from-to)	4009-4014
Number of pages	6
Journal	Proceedings-IEEE International Conference on Robotics and Automation
Volume	4
DOIs	https://doi.org/10.1109/ROBOT.2000.845356
State	Published - Apr 2000

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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Action module planning and its application to an experimental climbing robot

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