Multi-step motion planning for climbing robots with kinodynamic constraints

This paper presents a kinodynamic multi-step motion planner that aims to investigate the influence and mutual dependencies of different kinematic robot configurations and 3D environments. The planner is able to plan the motion for a defined robot that can move along known docking points placed at walls and ceiling. This planner is based on the available multi-step planner of Bretl [1] and adds extended kinodynamic awareness into the planning process. The robot kinematic and dynamic properties, as well as the environment, can be easily changed and thus allows an investigation on the influence of different designs on the movement capabilities. The focus of the planner is the usage as a design tool that allows to compare different robot properties and their resulting influence on the movement capabilities as well the maximum joint forces/torques for desired movements.