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

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...

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Bibliographic Details
Main Authors: Yajia Zhang, Jingru Luo, Hauser, Kris, Park, H. Andy, Paldhe, Manas, Lee, C. S. George, Ellenberg, Robert, Killen, Brittany, Oh, Paul, Jun Ho Oh, Jungho Lee, Inhyeok Kim
Format: Conference Proceeding
Language:English
Subjects:
Collision avoidance
Hardware
Humanoid robots
Joints
Marine vehicles
Robustness
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Summary: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.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2014.6907139