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

6 被引用数 (Scopus)

抄録

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.

本文言語	English
ホスト出版物のタイトル	IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
出版社	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/地域	Korea, Republic of
City	Daejeon
Period	16/10/9 → 16/10/14

ASJC Scopus subject areas

制御およびシステム工学
ソフトウェア
コンピュータビジョンおよびパターン認識
コンピュータサイエンスの応用

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10.1109/IROS.2016.7759851

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引用スタイル

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, 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. Vol. 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. 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 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. Vol. 2016-November Institute of Electrical and Electronics Engineers Inc., 2016. pp. 5782-5788

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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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