@inproceedings{fcab77951c44491d9a1928f0acac0e6f,
title = "Motion planning and control of ladder climbing on DRC-Hubo for DARPA Robotics Challenge",
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.",
author = "Yajia Zhang and Jingru Luo and Kris Hauser and Park, {H. Andy} and Manas Paldhe and Lee, {C. S.George} and Robert Ellenberg and Brittany Killen and Paul Oh and Oh, {Jun Ho} and Jungho Lee and Inhyeok Kim",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",
year = "2014",
month = sep,
day = "22",
doi = "10.1109/ICRA.2014.6907139",
language = "English (US)",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2086",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
address = "United States",
}