Vertical ladder climbing motion with posture control for multi-locomotion robot

Yoneda, Hironari; Sekiyama, Kosuke; Hasegawa, Yasuhisa; Fukuda, Toshio

doi:10.1109/iros.2008.4651212

Cited by 37 publications

(22 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In [55] a gorilla-type robot was shown to climb a vertical ladder having in mind transitions toward multi-modal locomotion capabilities. The authors achieved three different climbing gaits: transverse, pace with constant velocity and trot with acceleration.…”

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

“…Finally, we considered the possibility to have more dynamical gaits similar to [7]. For instance, by computing the CoM trajectory with a preview of up-coming contact, such as in [19].…”

Section: Discussionmentioning

confidence: 99%

“…In [7] a Gorilla-type robot was shown to climb a vertical ladder having in mind transitions toward multi-modal locomotion capabilities. They achieved three different climbing gaits: transverse, pace with constant velocity and trot with acceleration.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

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

“…1 [8]. By using MLR, we have realized independently biped and quadruped walking, brachiation, and climbing motion so far [9][10][11][12][13][14][15]. Next research issue of MLR is to develop a systematic transition system from one locomotion form to the other.…”

Section: Introductionmentioning

confidence: 99%