Robust ladder-climbing with a humanoid robot with application to the DARPA Robotics Challenge


Conference Paper

© 2014 IEEE. This paper presents an autonomous planning and control framework for humanoid robots to climb general ladder- and stair-like structures. The approach consists of two major components: 1) a multi-limbed locomotion planner that takes as input a ladder model and automatically generates a whole-body climbing trajectory that satisfies contact, collision, and torque limit constraints; 2) a compliance controller which allows the robot to tolerate errors from sensing, calibration, and execution. Simulations demonstrate that the robot is capable of climbing a wide range of ladders and tolerating disturbances and errors. Physical experiments demonstrate the DRC-Hubo humanoid robot successfully mounting, climbing, and dismounting an industrial ladder similar to the one intended to be used in the DARPA Robotics Challenge Trials.

Full Text

Duke Authors

Cited Authors

  • Luo, J; Zhang, Y; Hauser, K; Park, HA; Paldhe, M; Lee, CSG; Grey, M; Stilman, M; Oh, JH; Lee, J; Kim, I; Oh, P

Published Date

  • January 1, 2014

Published In

Start / End Page

  • 2792 - 2798

International Standard Serial Number (ISSN)

  • 1050-4729

Digital Object Identifier (DOI)

  • 10.1109/ICRA.2014.6907259

Citation Source

  • Scopus