Motion planning and control of ladder climbing on DRC-Hubo for DARPA Robotics Challenge

Published

Journal Article

© 2014 IEEE. This video presents our preliminary work towards addressing the ladder climbing event in DARPA Robotics Challenge (DRC) using DRC-Hubo robot. A ladder-climbing motion planner is developed which generates a collision-free, stable quasi-static trajectory for execution. Compliance control is enabled on arm joints to compensate for the calibration error, modeling error and control error. We have demonstrated that DRC-Hubo can robustly climb a variety of ladders in simulation and successfully climb a ship ladder on the hardware.

Full Text

Duke Authors

Cited Authors

  • Zhang, Y; Luo, J; Hauser, K; Park, HA; Paldhe, M; Lee, CSG; Ellenberg, R; Killen, B; Oh, P; Oh, JH; Lee, J; Kim, I

Published Date

  • January 1, 2014

Published In

Start / End Page

  • 2086 -

International Standard Serial Number (ISSN)

  • 1050-4729

Digital Object Identifier (DOI)

  • 10.1109/ICRA.2014.6907139

Citation Source

  • Scopus