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 |
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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 | |
出版ステータス | Published - 2016 11月 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月 9 → 2016 10月 14 |
Other
Other | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 |
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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