{"title":"机器人挖掘的操作空间方法","authors":"S. Singh","doi":"10.1109/ISIC.1991.187404","DOIUrl":null,"url":null,"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>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"8 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":"{\"title\":\"An operation space approach to robotic excavation\",\"authors\":\"S. Singh\",\"doi\":\"10.1109/ISIC.1991.187404\",\"DOIUrl\":null,\"url\":null,\"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>>\",\"PeriodicalId\":140507,\"journal\":{\"name\":\"Proceedings of the 1991 IEEE International Symposium on Intelligent Control\",\"volume\":\"8 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1991-08-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"14\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 1991 IEEE International Symposium on Intelligent Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISIC.1991.187404\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIC.1991.187404","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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.<>
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