Title :
Motion planning and control of ladder climbing on DRC-Hubo for DARPA Robotics Challenge
Author :
Yajia Zhang ; Jingru Luo ; Hauser, Kris ; Park, H. Andy ; Paldhe, Manas ; Lee, C. S. George ; Ellenberg, Robert ; Killen, Brittany ; Oh, P. ; Jun Ho Oh ; Jungho Lee ; Inhyeok Kim
Author_Institution :
Sch. of Inf. & Comput., Indiana Univ., Bloomingto, IN, USA
fDate :
May 31 2014-June 7 2014
Abstract :
This video presents our preliminary work towards addressing the ladder climbing event in DARPA Robotics Challenge (DRC) using DRC-Hubo robot. A ladder-climbing motion planner is developed which generates a collision-free, stable quasi-static trajectory for execution. Compliance control is enabled on arm joints to compensate for the calibration error, modeling error and control error. We have demonstrated that DRC-Hubo can robustly climb a variety of ladders in simulation and successfully climb a ship ladder on the hardware.
Keywords :
collision avoidance; humanoid robots; mobile robots; motion control; trajectory control; DARPA Robotics Challenge; DRC-Hubo robot; calibration error; collision-free generation; compliance control; control error; humanoid robot; ladder climbing control; ladder-climbing motion planner; modeling error; motion planning; quasistatic trajectory generation; Collision avoidance; Hardware; Humanoid robots; Joints; Marine vehicles; Robustness;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6907139
