ALBANY, N.Y. (AP) -- Kathy Boudin, the '60s radical who has served 22 years in prison for a 1981 armored car heist in which three men were killed, was granted parole Wednesday.

Boudin, 60, a one-time member of the Weather Underground described as a model inmate in prison, had been denied parole just three months ago, as well as two years ago.

Thomas Grant, a spokesman for the state Division of Parole, said Boudin would be released on Oct. 1 or earlier, once her plans for parole supervision were set.

Grant said parole was granted by a two-member hearing panel after a 1 1/4-hour interview with Boudin on Wednesday afternoon at the Bedford Hills state prison in Westchester County.

In prison, Boudin developed a program on parenting behind bars and helped write a handbook for inmates whose children are in foster care. She also earned a master's degree in adult education and worked to help inmates with AIDS.

But her possible release had been staunchly opposed by the families, friends and colleagues of the three men who were killed -- Sgt. Edward O'Grady and Officer Waverly Brown of the Nyack police and Peter Paige, a Brink's guard.

After the parole hearing earlier this year, the sergeant's widow, Diane O'Grady, said: ``She played a very pivotal part in that crime. Nine children were left without their fathers. We want her to serve life.''

Boudin, daughter of civil rights attorney Leonard Boudin, became a radical activist in the 1960s. She was recruited for the Brink's robbery by Black Liberation Army members and other radicals who apparently wanted to have white people driving the getaway vehicle, a U-Haul truck, to throw off pursuers.

In the robbery at the Nanuet Mall, $1.6 million was stolen and the security guard was killed. The police officers were gunned down when their truck, with Boudin in the passenger seat, was stopped at a roadblock and the gang burst from the back of the vehicle with automatic weapons firing.

Boudin was apprehended as she fled, pleaded guilty to felony murder and robbery and was sentenced to 20 years to life.

She had told the parole board in 2001 that at the time of the robbery, she thought the money would be used ``to help the black community.''

She said she wasn't armed and was terrified when the gun battle ensued. And she said there was no way ``to pay the debt for my being involved or participating in the crime that destroyed families and destroyed men.''

After Boudin was denied parole at her first hearing in 2001, a judge ruled the board failed to take into account the recommendation of the sentencing judge that she be paroled after 20 years. That ruling led to the May parole hearing at which she was again denied parole. Wednesday's hearing was her regularly scheduled appearance before the parole board.

Boudin has a grown son, Chesa Boudin, who was just 14 months old when she participated in the robbery. Raised by friends, he graduated from Yale University in May. Last December, he had been named as one of the winners of prestigeous Rhodes Scholarships.