Planning behaviors of a modular robot: an approach applying a randomized planner to coherent structure

Abstract

A method for behavior planning is presented for a modular robot that applies a randomized planner to coherent structure of the robot. To cope with difficulty in planning of many degrees of freedom (DOFs) of a modular robot, coherent structure is introduced in terms of control system and robot configuration. As the control system, a simple phase… (More)
DOI: 10.1109/IROS.2004.1389700

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