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

X. Sun; K. Hashimoto; S. Hamamoto; A. Koizumi; T. Matsuzawa; T. Teramachi; A. Takanishi

doi:10.1109/IROS.2016.7759851

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

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

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

7 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 language	English
Title of host publication	IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5782-5788
Number of pages	7
Volume	2016-November
ISBN (Electronic)	9781509037629
DOIs	https://doi.org/10.1109/IROS.2016.7759851
Publication status	Published - 2016 Nov 28
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: 2016 Oct 9 → 2016 Oct 14

Other

Other	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Country/Territory	Korea, Republic of
City	Daejeon
Period	16/10/9 → 16/10/14

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2016.7759851

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

Trajectory generation for ladder climbing motion with separated path and time planning. / Sun, X.; Hashimoto, K.; Hamamoto, S. et al.

IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November Institute of Electrical and Electronics Engineers Inc., 2016. p. 5782-5788 7759851.

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

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, 7759851, Institute of Electrical and Electronics Engineers Inc., pp. 5782-5788, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 16/10/9. https://doi.org/10.1109/IROS.2016.7759851

Sun X, Hashimoto K, Hamamoto S, Koizumi A, Matsuzawa T, Teramachi T et al. 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. Institute of Electrical and Electronics Engineers Inc. 2016. p. 5782-5788. 7759851 doi: 10.1109/IROS.2016.7759851

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AB - 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.

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

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