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

doi:10.1109/IROS.2016.7759851

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
巻	2016-November
ISBN（電子版）	9781509037629
DOI	https://doi.org/10.1109/IROS.2016.7759851
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 9 → 2016 10 14

Other

Other	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
国	Korea, Republic of
市	Daejeon
期間	16/10/9 → 16/10/14

ASJC Scopus subject areas

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

文献にアクセス

10.1109/IROS.2016.7759851

フィンガープリント Trajectory generation for ladder climbing motion with separated path and time planning' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

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

Trajectory generation for ladder climbing motion with separated path and time planning. / Sun, Xiao; Hashimoto, K.; Hamamoto, S.; Koizumi, A.; Matsuzawa, T.; Teramachi, T.; Takanishi, Atsuo.

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

研究成果: 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. ： IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. 巻. 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 その他. 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. Institute of Electrical and Electronics Engineers Inc. 2016. p. 5782-5788. 7759851 https://doi.org/10.1109/IROS.2016.7759851

Sun, Xiao ; Hashimoto, K. ; Hamamoto, S. ; Koizumi, A. ; Matsuzawa, T. ; Teramachi, T. ; Takanishi, Atsuo. / 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 Institute of Electrical and Electronics Engineers Inc., 2016. pp. 5782-5788

@inproceedings{98781cd935c24a1d894f6ec6e58047e3,

title = "Trajectory generation for ladder climbing motion with separated path and time planning",

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.",

author = "Xiao Sun and K. Hashimoto and S. Hamamoto and A. Koizumi and T. Matsuzawa and T. Teramachi and Atsuo Takanishi",

year = "2016",

month = nov,

day = "28",

doi = "10.1109/IROS.2016.7759851",

language = "English",

volume = "2016-November",

pages = "5782--5788",

booktitle = "IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016",

}

TY - GEN

T1 - Trajectory generation for ladder climbing motion with separated path and time planning

AU - Sun, Xiao

AU - Hashimoto, K.

AU - Hamamoto, S.

AU - Koizumi, A.

AU - Matsuzawa, T.

AU - Teramachi, T.

AU - Takanishi, Atsuo

PY - 2016/11/28

Y1 - 2016/11/28

N2 - 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.

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.

UR - http://www.scopus.com/inward/record.url?scp=85006427453&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85006427453&partnerID=8YFLogxK

U2 - 10.1109/IROS.2016.7759851

DO - 10.1109/IROS.2016.7759851

M3 - Conference contribution

AN - SCOPUS:85006427453

VL - 2016-November

SP - 5782

EP - 5788

BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016

Y2 - 9 October 2016 through 14 October 2016

ER -