Motion planning and control of ladder climbing on DRC-Hubo for DARPA Robotics Challenge.
Yajia ZhangJingru LuoKris K. HauserHyungju Andy ParkManas PaldheC. S. George LeeRobert EllenbergBrittany KillenPaul Y. OhJun-Ho OhJungho LeeInhyeok KimPublished in: ICRA (2014)
Keyphrases
- motion planning
- robotic tasks
- robotic arm
- mechanical systems
- climbing robot
- manipulation tasks
- mobile robot
- degrees of freedom
- path planning
- trajectory planning
- robot arm
- humanoid robot
- robot control
- multi robot
- inverse kinematics
- motor control
- control law
- autonomous mobile robot
- control system
- robotic systems
- obstacle avoidance
- industrial robots
- computer vision
- collision free
- configuration space
- autonomous robots
- kinematic model
- robot manipulators
- end effector
- potential field
- control strategy
- intrusion detection
- vision system