TY - GEN
T1 - Trajectory generation for ladder climbing motion with separated path and time planning
AU - Sun, X.
AU - Hashimoto, K.
AU - Hamamoto, S.
AU - Koizumi, A.
AU - Matsuzawa, T.
AU - Teramachi, T.
AU - Takanishi, A.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85006427453&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85006427453&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759851
DO - 10.1109/IROS.2016.7759851
M3 - Conference contribution
AN - SCOPUS:85006427453
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5782
EP - 5788
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -