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

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

    研究成果: Conference contribution

    抜粋

    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.

    元の言語English
    ホスト出版物のタイトル2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
    出版者IEEE Computer Society
    ページ188-194
    ページ数7
    2016-July
    ISBN(電子版)9781509032877
    DOI
    出版物ステータスPublished - 2016 7 26
    イベント6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore
    継続期間: 2016 6 262016 6 29

    Other

    Other6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
    Singapore
    Singapore
    期間16/6/2616/6/29

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Biomedical Engineering
    • Mechanical Engineering

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  • これを引用

    Sun, X., Hashimoto, K., Koizumi, A., Hamamoto, S., Matsuzawa, T., Teramachi, T., & Takanishi, A. (2016). Path-Time independent trajectory planning of ladder climbing with shortest path length for a four-limbed robot. : 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 (巻 2016-July, pp. 188-194). [7523620] IEEE Computer Society. https://doi.org/10.1109/BIOROB.2016.7523620