@inproceedings{1c850f0756234f7dbe887a31fc5835f2,
title = "Robust ladder-climbing with a humanoid robot with application to the DARPA Robotics Challenge",
abstract = "This paper presents an autonomous planning and control framework for humanoid robots to climb general ladder- and stair-like structures. The approach consists of two major components: 1) a multi-limbed locomotion planner that takes as input a ladder model and automatically generates a whole-body climbing trajectory that satisfies contact, collision, and torque limit constraints; 2) a compliance controller which allows the robot to tolerate errors from sensing, calibration, and execution. Simulations demonstrate that the robot is capable of climbing a wide range of ladders and tolerating disturbances and errors. Physical experiments demonstrate the DRC-Hubo humanoid robot successfully mounting, climbing, and dismounting an industrial ladder similar to the one intended to be used in the DARPA Robotics Challenge Trials.",
author = "Jingru Luo and Yajia Zhang and Kris Hauser and Park, {H. Andy} and Manas Paldhe and Lee, {C. S.George} and Michael Grey and Mike Stilman and Oh, {Jun Ho} and Jungho Lee and Inhyeok Kim and Paul Oh",
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.2014.6907259",
language = "English (US)",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2792--2798",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
address = "United States",
}