A path motion planning for humanoid climbing robot

Dung Nguyen, Akira Shimada

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 8th EUROSIM Congress on Modelling and Simulation, EUROSIM 2013
編集者Khalid Al-Begain, Khalid Al-Begain, David Al-Dabass, David Al-Dabass, Alessandra Orsoni, Alessandra Orsoni, Richard Cant, Richard Cant, Richard Zobel
出版社Institute of Electrical and Electronics Engineers Inc.
ページ179-184
ページ数6
ISBN(電子版)9780769550732
DOI
出版ステータスPublished - 2015 1 8
イベント8th EUROSIM Congress on Modelling and Simulation, EUROSIM 2013 - Cardiff, Wales, United Kingdom
継続期間: 2013 9 102013 9 13

出版物シリーズ

名前Proceedings - 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

ASJC Scopus subject areas

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

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