A path-planning algorithm for humanoid climbing robot using Kinect sensor

Nguyen Anh Dung, Akira Shimada

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

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1549-1554
Number of pages6
ISBN (Electronic)9784907764463
DOIs
Publication statusPublished - 2014 Oct 23
Event2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014 - Sapporo, Japan
Duration: 2014 Sep 92014 Sep 12

Publication series

NameProceedings of the SICE Annual Conference

Conference

Conference2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
CountryJapan
CitySapporo
Period14/9/914/9/12

Keywords

  • Climbing
  • Humanoid Robot
  • Kinect
  • Motion Planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Dung, N. A., & Shimada, A. (2014). A path-planning algorithm for humanoid climbing robot using Kinect sensor. In Proceedings of the SICE Annual Conference (pp. 1549-1554). [6935284] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE). https://doi.org/10.1109/SICE.2014.6935284