Conference proceeding
Motion planning and control of ladder climbing on DRC-Hubo for DARPA Robotics Challenge
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings, 2086
01 May 2014
Abstract
Conference Title: 2014 IEEE International Conference on Robotics and Automation (ICRA) Conference Start Date: 2014, May 31 Conference End Date: 2014, June 7 Conference Location: Hong Kong, China This video presents our preliminary work towards addressing the ladder climbing event in DARPA Robotics Challenge (DRC) using DRC-Hubo robot. A ladder-climbing motion planner is developed which generates a collision-free, stable quasi-static trajectory for execution. Compliance control is enabled on arm joints to compensate for the calibration error, modeling error and control error. We have demonstrated that DRC-Hubo can robustly climb a variety of ladders in simulation and successfully climb a ship ladder on the hardware.
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Details
- Title
- Motion planning and control of ladder climbing on DRC-Hubo for DARPA Robotics Challenge
- Creators
- Yajia ZhangJingru LuoKris HauserH Andy ParkManas PaldheC S George LeeRobert EllenbergBrittany KillenPaul OhJun Ho OhJungho LeeInhyeok Kim
- Publication Details
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings, 2086
- Publisher
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
- Resource Type
- Conference proceeding
- Language
- English
- Identifiers
- 991019348766304721