### Abstract

This paper describes a trajectory planning method of ladder climbing for a four-limbed robot. The overall design of the four-limbed robot and the specific design of its end-effector is explained. The trajectory planning consists of two components: path planning and time planning, and the separation of these two parts are realized by arc-length parameterization. In path planning, we use cubic spline interpolation to generate the path according to the given mid-points. It is a fact that the shape of path depends on the choice of the coefficients of the interpolation polynomial, and so does the path length. Therefore, we propose a minimization of path length so that once the mid-points are all given, the generated path will always be the shortest spline curve. For time planning, it enables us to decide how long the path goes in arbitrary given times. Due to the independence between path and time planning, different time planning along the same path can be applied for the purpose of speed adjustment, avoidance of moving obstacles, releasing the burden of motors and so on. Results from simulations and experiments authenticate the validity of our trajectory planning method.

Original language | English |
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Title of host publication | 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 |

Publisher | IEEE Computer Society |

Pages | 188-194 |

Number of pages | 7 |

Volume | 2016-July |

ISBN (Electronic) | 9781509032877 |

DOIs | |

Publication status | Published - 2016 Jul 26 |

Event | 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore Duration: 2016 Jun 26 → 2016 Jun 29 |

### Other

Other | 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 |
---|---|

Country | Singapore |

City | Singapore |

Period | 16/6/26 → 16/6/29 |

### Fingerprint

### ASJC Scopus subject areas

- Artificial Intelligence
- Biomedical Engineering
- Mechanical Engineering

### Cite this

*2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016*(Vol. 2016-July, pp. 188-194). [7523620] IEEE Computer Society. https://doi.org/10.1109/BIOROB.2016.7523620

**Path-Time independent trajectory planning of ladder climbing with shortest path length for a four-limbed robot.** / Sun, Xiao; Hashimoto, K.; Koizumi, A.; Hamamoto, S.; Matsuzawa, T.; Teramachi, T.; Takanishi, Atsuo.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016.*vol. 2016-July, 7523620, IEEE Computer Society, pp. 188-194, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016, Singapore, Singapore, 16/6/26. https://doi.org/10.1109/BIOROB.2016.7523620

}

TY - GEN

T1 - Path-Time independent trajectory planning of ladder climbing with shortest path length for a four-limbed robot

AU - Sun, Xiao

AU - Hashimoto, K.

AU - Koizumi, A.

AU - Hamamoto, S.

AU - Matsuzawa, T.

AU - Teramachi, T.

AU - Takanishi, Atsuo

PY - 2016/7/26

Y1 - 2016/7/26

N2 - This paper describes a trajectory planning method of ladder climbing for a four-limbed robot. The overall design of the four-limbed robot and the specific design of its end-effector is explained. The trajectory planning consists of two components: path planning and time planning, and the separation of these two parts are realized by arc-length parameterization. In path planning, we use cubic spline interpolation to generate the path according to the given mid-points. It is a fact that the shape of path depends on the choice of the coefficients of the interpolation polynomial, and so does the path length. Therefore, we propose a minimization of path length so that once the mid-points are all given, the generated path will always be the shortest spline curve. For time planning, it enables us to decide how long the path goes in arbitrary given times. Due to the independence between path and time planning, different time planning along the same path can be applied for the purpose of speed adjustment, avoidance of moving obstacles, releasing the burden of motors and so on. Results from simulations and experiments authenticate the validity of our trajectory planning method.

AB - This paper describes a trajectory planning method of ladder climbing for a four-limbed robot. The overall design of the four-limbed robot and the specific design of its end-effector is explained. The trajectory planning consists of two components: path planning and time planning, and the separation of these two parts are realized by arc-length parameterization. In path planning, we use cubic spline interpolation to generate the path according to the given mid-points. It is a fact that the shape of path depends on the choice of the coefficients of the interpolation polynomial, and so does the path length. Therefore, we propose a minimization of path length so that once the mid-points are all given, the generated path will always be the shortest spline curve. For time planning, it enables us to decide how long the path goes in arbitrary given times. Due to the independence between path and time planning, different time planning along the same path can be applied for the purpose of speed adjustment, avoidance of moving obstacles, releasing the burden of motors and so on. Results from simulations and experiments authenticate the validity of our trajectory planning method.

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UR - http://www.scopus.com/inward/citedby.url?scp=84983405811&partnerID=8YFLogxK

U2 - 10.1109/BIOROB.2016.7523620

DO - 10.1109/BIOROB.2016.7523620

M3 - Conference contribution

AN - SCOPUS:84983405811

VL - 2016-July

SP - 188

EP - 194

BT - 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016

PB - IEEE Computer Society

ER -