Path-Time independent trajectory planning of ladder climbing with shortest path length for a four-limbed robot

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

研究成果: Conference contribution

抄録

This paper describes a trajectory planning method of ladder climbing for a four-limbed robot. The overall design of the four-limbed robot and the specific design of its end-effector is explained. The trajectory planning consists of two components: path planning and time planning, and the separation of these two parts are realized by arc-length parameterization. In path planning, we use cubic spline interpolation to generate the path according to the given mid-points. It is a fact that the shape of path depends on the choice of the coefficients of the interpolation polynomial, and so does the path length. Therefore, we propose a minimization of path length so that once the mid-points are all given, the generated path will always be the shortest spline curve. For time planning, it enables us to decide how long the path goes in arbitrary given times. Due to the independence between path and time planning, different time planning along the same path can be applied for the purpose of speed adjustment, avoidance of moving obstacles, releasing the burden of motors and so on. Results from simulations and experiments authenticate the validity of our trajectory planning method.

本文言語English
ホスト出版物のタイトル2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
出版社IEEE Computer Society
ページ188-194
ページ数7
ISBN(電子版)9781509032877
DOI
出版ステータスPublished - 2016 7月 26
イベント6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore
継続期間: 2016 6月 262016 6月 29

出版物シリーズ

名前Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
2016-July
ISSN(印刷版)2155-1774

Other

Other6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
国/地域Singapore
CitySingapore
Period16/6/2616/6/29

ASJC Scopus subject areas

  • 人工知能
  • 生体医工学
  • 機械工学

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