TY - GEN
T1 - Planning and control of stable ladder climbing motion for the four-limbed Robot 'WAREC-1'
AU - Sun, X.
AU - Hashimoto, K.
AU - Teramachi, T.
AU - Matsuzawa, T.
AU - Kimura, S.
AU - Sakai, N.
AU - Hayashi, S.
AU - Yoshida, Y.
AU - Takanishi, A.
N1 - Funding Information:
*This research was funded by ImPACT TRC Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan). This study was conducted with the support of Research Institute for Science and Engineering, Waseda University; Future Robotics Organization, Waseda University, and as a part of the humanoid project at the Humanoid Robotics Institute, Waseda University. This research was also partially supported by SolidWorks Japan K. K; DYDEN Corporation; and KITO Corporation whom we thank for their financial and technical support.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - This paper describes an approach that enables the four-limbed robot 'WAREC-1' to climb up and down vertical ladders stably. First, the four-limbed robot 'WAREC-1' is introduced and dynamic stability conditions in multi-mass model for ladder climbing are proposed as the basis of judging whether a four-limbed robot is stable or not while climbing a vertical ladder. According to the proposed stability conditions, 3 different types of moment will directly affect the stability of the robot on a ladder: gravitational moment, inertial moment and reaction force moment. With the analysis of these 3 kinds of moments and the relationship among them, stability control methods are proposed to maintain stability of the robot on a ladder to the greatest degree and avoid their mutual interference. Combining with the stability conditions and stability control proposed, stable motion planning of climbing up and down a vertical ladder, a motion planning method proposed by the authors that allows independent path and time planning in trajectory planning is also applied to reinforce the efficiency of the stability control. Eventually, results from the simulation and physical robot verify the validity of the proposed control methods.
AB - This paper describes an approach that enables the four-limbed robot 'WAREC-1' to climb up and down vertical ladders stably. First, the four-limbed robot 'WAREC-1' is introduced and dynamic stability conditions in multi-mass model for ladder climbing are proposed as the basis of judging whether a four-limbed robot is stable or not while climbing a vertical ladder. According to the proposed stability conditions, 3 different types of moment will directly affect the stability of the robot on a ladder: gravitational moment, inertial moment and reaction force moment. With the analysis of these 3 kinds of moments and the relationship among them, stability control methods are proposed to maintain stability of the robot on a ladder to the greatest degree and avoid their mutual interference. Combining with the stability conditions and stability control proposed, stable motion planning of climbing up and down a vertical ladder, a motion planning method proposed by the authors that allows independent path and time planning in trajectory planning is also applied to reinforce the efficiency of the stability control. Eventually, results from the simulation and physical robot verify the validity of the proposed control methods.
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U2 - 10.1109/IROS.2017.8206565
DO - 10.1109/IROS.2017.8206565
M3 - Conference contribution
AN - SCOPUS:85041954711
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6547
EP - 6554
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -