Title :
Motion planning for a three-limbed climbing robot in vertical natural terrain
Author :
Bretl, Timothy ; Rock, Stephen ; Latombe, Jean-Claude
Author_Institution :
Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA
Abstract :
This paper presents a general framework for planning the quasi-static motion of a three-limbed climbing robot in vertical natural terrain. The problem is to generate a sequence of continuous one-step motions between consecutive holds that will allow the robot to reach a particular goal hold. A detailed algorithm is presented to compute a one-step motion considering the equilibrium constraint only. The overall framework combines this local planner with a heuristic search technique to generate a complete plan. An online implementation of the algorithm is demonstrated in simulation.
Keywords :
mobile robots; motion control; optimisation; path planning; search problems; equilibrium constraint; heuristic search technique; motion planning; online implementation; quasi-static motion; three-limbed climbing robot; vertical natural terrain; Algorithm design and analysis; Climbing robots; Computational modeling; Ducts; Humans; Magnetic properties; Magnets; Military computing; Motion planning; Orbital robotics;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242043