Motion planning for a three-limbed climbing robot in vertical natural terrain
- 22 March 2004
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 2946-2953 vol.3
- https://doi.org/10.1109/robot.2003.1242043
Abstract
This paper presents a general framework for planning the quasi-static motion of a three-limbed climbing robot in vertical natural terrain. The problem is to generate a sequence of continuous one-step motions between consecutive holds that will allow the robot to reach a particular goal hold. A detailed algorithm is presented to compute a one-step motion considering the equilibrium constraint only. The overall framework combines this local planner with a heuristic search technique to generate a complete plan. An online implementation of the algorithm is demonstrated in simulation.Keywords
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