An operation space approach to robotic excavation

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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>