An Operation Space Approach to Robotic Excavation

We propose a methodology to automatically generate robot actions for tasks that cannot be abstracted into a geometrical basis because ofed into a geometrical basis because of complex interaction between the robot and the world. Our 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. We discuss the constraints, the optimizing scheme and preliminary simulation