Conference proceeding
Robust ladder-climbing with a humanoid robot with application to the DARPA Robotics Challenge
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings, 2792
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 paper presents an autonomous planning and control framework for humanoid robots to climb general ladder- and stair-like structures. The approach consists of two major components: 1) a multi-limbed locomotion planner that takes as input a ladder model and automatically generates a whole-body climbing trajectory that satisfies contact, collision, and torque limit constraints; 2) a compliance controller which allows the robot to tolerate errors from sensing, calibration, and execution. Simulations demonstrate that the robot is capable of climbing a wide range of ladders and tolerating disturbances and errors. Physical experiments demonstrate the DRC-Hubo humanoid robot successfully mounting, climbing, and dismounting an industrial ladder similar to the one intended to be used in the DARPA Robotics Challenge Trials.
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Details
- Title
- Robust ladder-climbing with a humanoid robot with application to the DARPA Robotics Challenge
- Creators
- Jingru LuoYajia ZhangKris HauserH Andy ParkManas PaldheC S George LeeMichael GreyMike StilmanJun Ho OhJungho LeeInhyeok KimPaul Oh
- Publication Details
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings, 2792
- Publisher
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
- Resource Type
- Conference proceeding
- Language
- English
- Identifiers
- 991019348756704721