A path motion planning for humanoid climbing robot

Dung Nguyen, Akira Shimada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents an algorithm of motion planning of humanoid robot in order to climb vertical surfaces. Robots moving up walls or similarly rampant terrains have been analyzed and developed for a long time, we can see the many robot systems in real world scenarios for window cleaning and inspection applications. Previous researches were usually dedicated to climbing mechanisms with their locomotion and adhesion methods (magnetic, vacuum or suction cups), however, we introduce a more challenging scenario in this paper: A humanoid robot is designed to climb up a climbing wall totally autonomously. Robots are generally expected to assist human lives, and this kind of humanoid climbing robots are expected to be useful to rescue in disaster area. A special algorithm is developed to find the best route to climb up walls at each instant hold coordinate. The presented algorithm is a kind of graph algorithm on clustering, and it can analyze whether target holds are useful or not. The algorithm takes into account the specific abilities of the robot, and it is labeled "Right Hand Search Algorithm' (RHSA). Finally, we apply this algorithm to solve a simple practical example and simulate a basic scenario in the real environment for our humanoid climbing robot.

Original languageEnglish
Title of host publicationProceedings - 8th EUROSIM Congress on Modelling and Simulation, EUROSIM 2013
EditorsKhalid Al-Begain, Khalid Al-Begain, David Al-Dabass, David Al-Dabass, Alessandra Orsoni, Alessandra Orsoni, Richard Cant, Richard Cant, Richard Zobel
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages179-184
Number of pages6
ISBN (Electronic)9780769550732
DOIs
Publication statusPublished - 2015 Jan 8
Event8th EUROSIM Congress on Modelling and Simulation, EUROSIM 2013 - Cardiff, Wales, United Kingdom
Duration: 2013 Sep 102013 Sep 13

Publication series

NameProceedings - 8th EUROSIM Congress on Modelling and Simulation, EUROSIM 2013

Other

Other8th EUROSIM Congress on Modelling and Simulation, EUROSIM 2013
CountryUnited Kingdom
CityCardiff, Wales
Period13/9/1013/9/13

Keywords

  • Climbing
  • Humanoid Robot
  • Motion planning

ASJC Scopus subject areas

  • Modelling and Simulation
  • Computational Theory and Mathematics
  • Computer Science Applications

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