Trajectory generation for ladder climbing motion with separated path and time planning

Xiao Sun, K. Hashimoto, S. Hamamoto, A. Koizumi, T. Matsuzawa, T. Teramachi, Atsuo Takanishi

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

    5 Citations (Scopus)

    Abstract

    This paper introduces a motion planning method to generate ladder climbing motion for a four-limbed robot. This method contains the following points: (1) independent planning of path and time in 3 dimensional space for trajectory planning; (2) path length minimization according to given midpoints. In trajectory planning, arc-length parameterization is used to separate path planning and time planning so that they can be done independently. After path is planned, time planning along the planned path can be given freely to meet our requirement, such as speed and acceleration adjustment for the protection of motors, optimization for dynamics analysis, dynamic obstacle avoidance and so on. Results from simulations and experiments authenticate the validity of our motion generation method.

    Original languageEnglish
    Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages5782-5788
    Number of pages7
    Volume2016-November
    ISBN (Electronic)9781509037629
    DOIs
    Publication statusPublished - 2016 Nov 28
    Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
    Duration: 2016 Oct 92016 Oct 14

    Other

    Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
    CountryKorea, Republic of
    CityDaejeon
    Period16/10/916/10/14

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    ASJC Scopus subject areas

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

    Cite this

    Sun, X., Hashimoto, K., Hamamoto, S., Koizumi, A., Matsuzawa, T., Teramachi, T., & Takanishi, A. (2016). Trajectory generation for ladder climbing motion with separated path and time planning. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2016-November, pp. 5782-5788). [7759851] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759851