Robust ladder-climbing with a humanoid robot with application to the DARPA Robotics Challenge

Jingru Luo, Yajia Zhang, Kris Hauser, H. Andy Park, Manas Paldhe, C. S.George Lee, Michael Grey, Mike Stilman, Jun Ho Oh, Jungho Lee, Inhyeok Kim, Paul Oh

Research output: Contribution to journalConference articlepeer-review

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.

Original languageEnglish (US)
Article number6907259
Pages (from-to)2792-2798
Number of pages7
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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