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

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

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
出版社Institute of Electrical and Electronics Engineers Inc.
ページ6547-6554
ページ数8
ISBN(電子版)9781538626825
DOI
出版ステータスPublished - 2017 12 13
イベント2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
継続期間: 2017 9 242017 9 28

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
2017-September
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Other

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

ASJC Scopus subject areas

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

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