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

Nguyen Anh Dung, Akira Shimada

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the SICE Annual Conference
出版社Society of Instrument and Control Engineers (SICE)
ページ1549-1554
ページ数6
ISBN(電子版)9784907764463
DOI
出版ステータスPublished - 2014 10 23
イベント2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014 - Sapporo, Japan
継続期間: 2014 9 92014 9 12

出版物シリーズ

名前Proceedings 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

ASJC Scopus subject areas

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

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