TY - GEN
T1 - A path-planning algorithm for humanoid climbing robot using Kinect sensor
AU - Dung, Nguyen Anh
AU - Shimada, Akira
N1 - Publisher Copyright:
© 2014 SICE.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2014/10/23
Y1 - 2014/10/23
N2 - This paper presents a study on improving adaptability of humanoid climbing robot in a vertical environment. Although the robot is intended to use for rescue and load-carriage in mountain or hazard areas finally, this paper focuses on path planning algorithm for the robot on climbing wall as the initial phase of our development. Therefore, the first step is to acquire Kinect's depth map to extract accurate information about climbing holds on the vertical wall. Secondly, we propose an algorithm of path planning of humanoid robot using Kinect's data. The proposed algorithm ensures that climbing robot with the Kinect's depth camera finds the best route to climb up the wall. The presented algorithm is a form of graph algorithm clustering the data of climbing holds. The algorithm takes into account the specific abilities of robot. Finally, this algorithm is evaluated using a humanoid climbing robot system with a simple practical example, and its effectiveness is proved experimentally in a real environment.
AB - This paper presents a study on improving adaptability of humanoid climbing robot in a vertical environment. Although the robot is intended to use for rescue and load-carriage in mountain or hazard areas finally, this paper focuses on path planning algorithm for the robot on climbing wall as the initial phase of our development. Therefore, the first step is to acquire Kinect's depth map to extract accurate information about climbing holds on the vertical wall. Secondly, we propose an algorithm of path planning of humanoid robot using Kinect's data. The proposed algorithm ensures that climbing robot with the Kinect's depth camera finds the best route to climb up the wall. The presented algorithm is a form of graph algorithm clustering the data of climbing holds. The algorithm takes into account the specific abilities of robot. Finally, this algorithm is evaluated using a humanoid climbing robot system with a simple practical example, and its effectiveness is proved experimentally in a real environment.
KW - Climbing
KW - Humanoid Robot
KW - Kinect
KW - Motion Planning
UR - http://www.scopus.com/inward/record.url?scp=84911862355&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911862355&partnerID=8YFLogxK
U2 - 10.1109/SICE.2014.6935284
DO - 10.1109/SICE.2014.6935284
M3 - Conference contribution
AN - SCOPUS:84911862355
T3 - Proceedings of the SICE Annual Conference
SP - 1549
EP - 1554
BT - Proceedings of the SICE Annual Conference
PB - Society of Instrument and Control Engineers (SICE)
T2 - 2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
Y2 - 9 September 2014 through 12 September 2014
ER -