Abstract
This paper studies non-gaited, multi-step motion planning, to enable limbed robots to free-climb vertical rock. The application of a multi-step planner to a real free-climbing robot is described. This planner processes each of the many underlying one-step motion queries using an incremental, sample-based technique. However, experimental results point toward a better approach, incorporating the ability to detect when one-step motions are infeasible (i.e., to prove disconnection). Current work on a general method for doing this, based on recent advances in computational real algebra, is also presented.
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Bretl, T., Lall, S., Latombe, JC., Rock, S. Multi-Step Motion Planning for Free-Climbing Robots. In: Erdmann, M., Overmars, M., Hsu, D., van der Stappen, F. (eds) Algorithmic Foundations of Robotics VI. Springer Tracts in Advanced Robotics, vol 17. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10991541_6
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DOI: https://doi.org/10.1007/10991541_6
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-25728-8
Online ISBN: 978-3-540-31506-3
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