Motion planning and control of ladder climbing on DRC-Hubo for DARPA Robotics Challenge

Yajia Zhang, Jingru Luo, Kris Hauser, H. Andy Park, Manas Paldhe, C. S.George Lee, Robert Ellenberg, Brittany Killen, Paul Oh, Jun Ho Oh, Jungho Lee, Inhyeok Kim

Research output: Contribution to journalConference articlepeer-review

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.

Original languageEnglish (US)
Article number6907139
Number of pages1
JournalProceedings - IEEE International Conference on Robotics and Automation
DOIs
StatePublished - Sep 22 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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