Motion planning of ladder climbing for humanoid robots


Conference Paper

This paper describes preliminary steps toward providing the Hubo-II+ humanoid robot with ladder climbing capabilities. Ladder climbing is an essential mode of locomotion for navigating industrial environments and conducting maintenance tasks in buildings, trees, and other man-made structures (e.g., utility poles). Although seemingly straightforward for humans, this task is quite challenging for humanoid robots due to differences from human kinematics, significant physical stresses, simultaneous coordination of four limbs in contact, and limited motor torques. We present a planning strategy for the Hubo-II+ robot that automatically generates multi-limbed locomotion sequences that satisfy contact, collision, and torque limit constraints for a given ladder specification. This method is used to automatically test climbing strategies on a variety of ladders in simulation. This planner-aided design paradigm allows us to employ extensive simulation in order to rapidly design, test, and verify novel climbing strategies, as well as testing how candidate hardware changes would affect the robot's ladder climbing capabilities. © 2013 IEEE.

Full Text

Duke Authors

Cited Authors

  • Zhang, Y; Luo, J; Hauser, K; Ellenberg, R; Oh, P; Park, HA; Paldhe, M; Lee, CSG

Published Date

  • September 9, 2013

Published In

Electronic International Standard Serial Number (EISSN)

  • 2325-0534

International Standard Serial Number (ISSN)

  • 2325-0526

International Standard Book Number 13 (ISBN-13)

  • 9781467362252

Digital Object Identifier (DOI)

  • 10.1109/TePRA.2013.6556364

Citation Source

  • Scopus