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Backward Ladder Climbing Locomotion of Humanoid Robot with Gain Overriding Method on Position Control
Author(s) -
Lim Jeongsoo,
Oh JunHo
Publication year - 2016
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.21598
Subject(s) - humanoid robot , inverse kinematics , climbing , climb , task (project management) , robot , kinematics , position (finance) , polygon (computer graphics) , inverse dynamics , robot locomotion , artificial intelligence , computer science , motion (physics) , simulation , robot control , work (physics) , engineering , control theory (sociology) , computer vision , control (management) , mobile robot , structural engineering , finance , economics , mechanical engineering , telecommunications , physics , systems engineering , classical mechanics , frame (networking) , aerospace engineering
We studied ladder climbing locomotion with the humanoid robot, DRC‐HUBO, under the constraints suggested by DARPA. Considering the hardware constraints of the robot platform, we planned for the robot to climb backward with four limbs moving separately. Task‐priority whole‐body inverse kinematics was used to generate and track the motion while maintaining COM inside the support polygon. As ladder climbing is a multicontact motion that generates interaction and internal forces, we resolved these issues using a gain overriding method applied to the position control of the motor controllers. This paper also provides various vision methods and posture modification strategies for the restricted conditions of the challenge. We ultimately verified our work in the DRC trials by getting a full score on the ladder task.