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

X. Sun, K. Hashimoto, S. Hamamoto, A. Koizumi, T. Matsuzawa, T. Teramachi, A. Takanishi

研究成果: Conference contribution

7 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
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 92016 10月 14

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
国/地域Korea, Republic of
CityDaejeon
Period16/10/916/10/14

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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