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

    研究成果: Conference contribution

    5 引用 (Scopus)

    抜粋

    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.

    元の言語English
    ホスト出版物のタイトルIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
    出版者Institute of Electrical and Electronics Engineers Inc.
    ページ5782-5788
    ページ数7
    2016-November
    ISBN(電子版)9781509037629
    DOI
    出版物ステータスPublished - 2016 11 28
    イベント2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
    継続期間: 2016 10 92016 10 14

    Other

    Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
    Korea, Republic of
    Daejeon
    期間16/10/916/10/14

    ASJC Scopus subject areas

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

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  • これを引用

    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. : IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (巻 2016-November, pp. 5782-5788). [7759851] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759851