Sign In

Communications of the ACM

Review articles

Optimization as Motion Selection Principle in Robot Action


Optimization as Motion Selection Principle in Robot Action, illustration

Movement is a fundamental characteristic of living systems (see Figure 1). Plants and animals must move to survive. Animals are distinguished from plants in that they have to explore the world to feed. The carnivorous plant remains at a fixed position to catch the imprudent insect. Plants must make use of self-centered motions. At the same time the cheetah goes out looking for food.

Feeding is a paragon of action. Any action in the physical world requires self-centered movements, exploration movements, or a combination of both. By analogy, a manipulator robot makes use of self-centered motions, a mobile robot moves to explore the world, and a humanoid robot combines both types of motions.


 

No entries found

Log in to Read the Full Article

Sign In

Sign in using your ACM Web Account username and password to access premium content if you are an ACM member, Communications subscriber or Digital Library subscriber.

Need Access?

Please select one of the options below for access to premium content and features.

Create a Web Account

If you are already an ACM member, Communications subscriber, or Digital Library subscriber, please set up a web account to access premium content on this site.

Join the ACM

Become a member to take full advantage of ACM's outstanding computing information resources, networking opportunities, and other benefits.
  

Subscribe to Communications of the ACM Magazine

Get full access to 50+ years of CACM content and receive the print version of the magazine monthly.

Purchase the Article

Non-members can purchase this article or a copy of the magazine in which it appears.