Planning and control of stable ladder climbing motion for the four-limbed Robot 'WAREC-1'

Xiao Sun, K. Hashimoto, T. Teramachi, T. Matsuzawa, S. Kimura, N. Sakai, S. Hayashi, Y. Yoshida, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    This paper describes an approach that enables the four-limbed robot 'WAREC-1' to climb up and down vertical ladders stably. First, the four-limbed robot 'WAREC-1' is introduced and dynamic stability conditions in multi-mass model for ladder climbing are proposed as the basis of judging whether a four-limbed robot is stable or not while climbing a vertical ladder. According to the proposed stability conditions, 3 different types of moment will directly affect the stability of the robot on a ladder: gravitational moment, inertial moment and reaction force moment. With the analysis of these 3 kinds of moments and the relationship among them, stability control methods are proposed to maintain stability of the robot on a ladder to the greatest degree and avoid their mutual interference. Combining with the stability conditions and stability control proposed, stable motion planning of climbing up and down a vertical ladder, a motion planning method proposed by the authors that allows independent path and time planning in trajectory planning is also applied to reinforce the efficiency of the stability control. Eventually, results from the simulation and physical robot verify the validity of the proposed control methods.

    Original languageEnglish
    Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages6547-6554
    Number of pages8
    Volume2017-September
    ISBN (Electronic)9781538626825
    DOIs
    Publication statusPublished - 2017 Dec 13
    Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
    Duration: 2017 Sep 242017 Sep 28

    Other

    Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
    CountryCanada
    CityVancouver
    Period17/9/2417/9/28

    Fingerprint

    Ladders
    Robots
    Planning
    Motion planning
    Trajectories

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

    Cite this

    Sun, X., Hashimoto, K., Teramachi, T., Matsuzawa, T., Kimura, S., Sakai, N., ... Takanishi, A. (2017). Planning and control of stable ladder climbing motion for the four-limbed Robot 'WAREC-1'. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2017-September, pp. 6547-6554). [8206565] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8206565

    Planning and control of stable ladder climbing motion for the four-limbed Robot 'WAREC-1'. / Sun, Xiao; Hashimoto, K.; Teramachi, T.; Matsuzawa, T.; Kimura, S.; Sakai, N.; Hayashi, S.; Yoshida, Y.; Takanishi, Atsuo.

    IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September Institute of Electrical and Electronics Engineers Inc., 2017. p. 6547-6554 8206565.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Sun, X, Hashimoto, K, Teramachi, T, Matsuzawa, T, Kimura, S, Sakai, N, Hayashi, S, Yoshida, Y & Takanishi, A 2017, Planning and control of stable ladder climbing motion for the four-limbed Robot 'WAREC-1'. in IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2017-September, 8206565, Institute of Electrical and Electronics Engineers Inc., pp. 6547-6554, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 17/9/24. https://doi.org/10.1109/IROS.2017.8206565
    Sun X, Hashimoto K, Teramachi T, Matsuzawa T, Kimura S, Sakai N et al. Planning and control of stable ladder climbing motion for the four-limbed Robot 'WAREC-1'. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September. Institute of Electrical and Electronics Engineers Inc. 2017. p. 6547-6554. 8206565 https://doi.org/10.1109/IROS.2017.8206565
    Sun, Xiao ; Hashimoto, K. ; Teramachi, T. ; Matsuzawa, T. ; Kimura, S. ; Sakai, N. ; Hayashi, S. ; Yoshida, Y. ; Takanishi, Atsuo. / Planning and control of stable ladder climbing motion for the four-limbed Robot 'WAREC-1'. IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September Institute of Electrical and Electronics Engineers Inc., 2017. pp. 6547-6554
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    abstract = "This paper describes an approach that enables the four-limbed robot 'WAREC-1' to climb up and down vertical ladders stably. First, the four-limbed robot 'WAREC-1' is introduced and dynamic stability conditions in multi-mass model for ladder climbing are proposed as the basis of judging whether a four-limbed robot is stable or not while climbing a vertical ladder. According to the proposed stability conditions, 3 different types of moment will directly affect the stability of the robot on a ladder: gravitational moment, inertial moment and reaction force moment. With the analysis of these 3 kinds of moments and the relationship among them, stability control methods are proposed to maintain stability of the robot on a ladder to the greatest degree and avoid their mutual interference. Combining with the stability conditions and stability control proposed, stable motion planning of climbing up and down a vertical ladder, a motion planning method proposed by the authors that allows independent path and time planning in trajectory planning is also applied to reinforce the efficiency of the stability control. Eventually, results from the simulation and physical robot verify the validity of the proposed control methods.",
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    AU - Matsuzawa, T.

    AU - Kimura, S.

    AU - Sakai, N.

    AU - Hayashi, S.

    AU - Yoshida, Y.

    AU - Takanishi, Atsuo

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