Robust ladder-climbing with a humanoid robot with application to the DARPA Robotics Challenge

Luo, Jingru; Zhang, Yajia; Hauser, Kris; Park, H. Andy; Paldhe, Manas; Lee, C. S. George; Grey, Michael X.; Stilman, Mike; Oh, Jun Ho; Lee, Jung-Ho; Kim, Inhyeok; Oh, Paul

doi:10.1109/icra.2014.6907259

Cited by 26 publications

(14 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, their robot used two-feet-one-rung intermediary transitions before climbing each next rung, and climbed up backward to avoid collisions between knees and rungs when bending the knees. The HUBO+ humanoid robot, based on multi-contact planning technology [56], could also climb almost all of it, using a similar backward strategy [33] and a two-feet on one-rung transition phases, together with arm grasps on stringers. It failed at the last rung.…”

Section: Introductionmentioning

confidence: 99%

Multi-contact vertical ladder climbing with an HRP-2 humanoid

et al. 2016

View full text Add to dashboard Cite

We describe the research and integration methods we developed to give the HRP-2 humanoid robot the capability to climb vertical industrial-norm ladders. Our approach makes use of our multi-contact planner and multiobjective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds additional intermediary tasks accounting for geometric uncertainties and specific grasps procedures to be realized by our multi-objective model-based QP controller. This controller provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are to be made on the HRP-2, and parts of software are to be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, which can be found in nuclear power plants and large scale manufacturing such as shipyards, aircraft factories and construction sites.Keywords Humanoid robots · multi-contact motion planning and control · field humanoid robots · disaster humanoid robots Notice that : (i) it is not possible to put two feet on a same rung (ii) closed grippers do not grab firmly the rungs (iii) each foot can be freely positioned on each rung: the right foot is rotated to increase the reaching range of the left arm toward the higher rung.

show abstract

Section: Introductionmentioning

confidence: 99%

Multi-contact vertical ladder climbing with an HRP-2 humanoid

et al. 2016

View full text Add to dashboard Cite

show abstract

“…However, we are planning to servo the robot with low PD gains and a feedforward term u = K p ǫ + K sǫ + D(q,q): K x being the gains, ǫ the servo position error and D the feedforward term. This idea was also discussed in [2], where the K p gain was adjusted in the gripper at the cost of loosing precision, whereas D was left for future work.…”

Section: Discussionmentioning

confidence: 99%

“…In brief, a multi-contact planner (MCP) uses the HRP-2, ladder and environment models (assumed known) to generate offline a sequence of postures in contact to climb the ladder. For the ladder, we use nearly the parametrization in [2], whereas the robot is covered by patches of spheres and tori for smooth distance computation [12].The postures computed by the MCP are passed to a finite state machine (FSM) that will split them into subtasks so as to account for uncertainties during task execution. The FSM elaborates additional tasks and changes on-line their objectives to deal with different primitives (contact adding, grasps, contact removal, center of mass shifts, etc).…”

Section: Multi-contact Plannermentioning

confidence: 99%

“…1. Two main issues drive our research: 1) address vertical ladders; relatively to [7][8] [2]... we use industrial norm ones: we prohibit any change or adjustment on the ladders as this would not be possible in practice. 2) use HRP-2 as it is and fully exploit its limits.…”

Section: Introductionmentioning

confidence: 99%

“…In fact, the winning SCHAFT team could climb the DRC ladder without even using its arms. The DRC-HUBO humanoid robot, based on multi-contact planning [1], could climb almost all of it [2], whereas KAIST team, also with HUBO completed the climbing. Yet, no of teams (with Atlas or own robots) succeeded in climbing the ladder.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Vertical ladder climbing by the HRP-2 humanoid robot

Vaillant

Kheddar

Audren

et al. 2014

2014 IEEE-RAS International Conference on Humanoid Robots

View full text Add to dashboard Cite

Abstract-We report the results obtained from our trials in making the HRP-2 humanoid robot climb vertical industrialnorm ladders. We integrated our multi-contact planner and multi-objective QP control as basic components. First, a set of contacts to climb the ladder is planned off-line and provided as an input for a finite state machine that sequences tasks to be realized by our multi-objective model-based QP in closed-loop control. The trials we made revealed that hardware changes are to be made on the HRP-2, and the software has to be made more robust. Yet, we confirmed that HRP-2 has power capability to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturings (e.g. airliners, shipyards and buildings).

show abstract

System Design and Testing of the Hominid Robot Charlie

et al. 2016

View full text Add to dashboard Cite

Current and future application scenarios for mobile robots deal with increased requirements regarding autonomy and flexibility in the locomotor system. To cope with these demands, a high sensor quantity and quality allows us to perform robust locomotion. The authors present a hominid robotic system that is equipped with multi‐point‐contact feet and an active artificial spine to incorporate extended sensing and locomotion capabilities for walking robots. In the proposed robotic system, the front and rear part are connected via an actuated spinal structure with six degrees of freedom. To increase the robustness of the system's locomotion in terms of traction and stability, a footlike structure equipped with various sensors has been developed. Altogether, the robot embodies more than 330 sensors. In terms of distributed local control, the structures feature their own local intelligence and are as autonomous as possible regarding sensing, sensor preprocessing, control, and communication. This allows the robot to respond to external disturbances with minor latency. Within this paper, the proposed robotic system and its distributed and hierarchical control method are presented. To validate the electromechanical and software approach, the authors present results verified experimentally in different environments (in‐ and outdoor) with differing walking speeds on various substrates and in varying inclinations from −20∘ to 20°. The results show that the presented approach is viable and improves the flexibility of the locomotor system. A hominid design was chosen in order to perform various types of locomotion. To demonstrate the entire functionality of the developed hardware, two different motion modes (quadrupedal and bipedal locomotion) are investigated. This also includes a stable transition from a four‐legged posture to an upright posture and vice versa.

show abstract

Robust ladder-climbing with a humanoid robot with application to the DARPA Robotics Challenge

Cited by 26 publications

References 13 publications

Multi-contact vertical ladder climbing with an HRP-2 humanoid

Multi-contact vertical ladder climbing with an HRP-2 humanoid

Vertical ladder climbing by the HRP-2 humanoid robot

System Design and Testing of the Hominid Robot Charlie

Contact Info

Product

Resources

About