scholarly journals Motion planning for a three-limbed climbing robot in vertical natural terrain

2004 ◽  
Author(s):  
T. Bretl ◽  
S. Rock ◽  
J.-C. Latombe
Keyword(s):  
Motion Planning ◽  
Climbing Robot ◽  
Natural Terrain

scholarly journals Motion Planning for Climbing Mobility with Implementation on a Wall-Climbing Robot

2019 ◽  
Author(s):  
Keenan Albee ◽  
Antonio Teran Espinoza ◽  
Kristina Andreyeva ◽  
Nathan Werner ◽  
Howei Chen ◽  
...  
Keyword(s):  
Motion Planning ◽  
Climbing Robot

Design and motion planning of an autonomous climbing robot with claws

2011 ◽  
Vol 59 (11) ◽  
pp. 1008-1019 ◽  
Author(s):  
Avishai Sintov ◽  
Tomer Avramovich ◽  
Amir Shapiro
Keyword(s):  
Motion Planning ◽  
Climbing Robot

Energy-optimal motion planning of a biped pole-climbing robot with kinodynamic constraints

2018 ◽  
Vol 45 (3) ◽  
pp. 343-353 ◽  
Author(s):  
Xuefeng Zhou ◽  
Li Jiang ◽  
Yisheng Guan ◽  
Haifei Zhu ◽  
Dan Huang ◽  
...  
Keyword(s):  
Motion Planning ◽  
Optimal Path ◽  
Planning Method ◽  
Outdoor Environment ◽  
Planning Problem ◽  
Climbing Robot ◽  
Optimal Motion ◽  
Climbing Robots ◽  
Content Type ◽  
Optimal Motion Planning

Purpose Applications of robotic systems in agriculture, forestry and high-altitude work will enter a new and huge stage in the near future. For these application fields, climbing robots have attracted much attention and have become one central topic in robotic research. The purpose of this paper is to propose an energy-optimal motion planning method for climbing robots that are applied in an outdoor environment. Design/methodology/approach First, a self-designed climbing robot named Climbot is briefly introduced. Then, an energy-optimal motion planning method is proposed for Climbot with simultaneous consideration of kinematic constraints and dynamic constraints. To decrease computing complexity, an acceleration continuous trajectory planner and a path planner based on spatial continuous curve are designed. Simulation and experimental results indicate that this method can search an energy-optimal path effectively. Findings Climbot can evidently reduce energy consumption when it moves along the energy-optimal path derived by the method used in this paper. Research limitations/implications Only one step climbing motion planning is considered in this method. Practical implications With the proposed motion planning method, climbing robots applied in an outdoor environment can commit more missions with limit power supply. In addition, it is also proved that this motion planning method is effective in a complicated obstacle environment with collision-free constraint. Originality/value The main contribution of this paper is that it establishes a two-planner system to solve the complex motion planning problem with kinodynamic constraints.

A real-time motion planning algorithm for a hyper-redundant set of mechanisms

Robotica ◽  
2013 ◽  
Vol 31 (8) ◽  
pp. 1327-1335 ◽  
Author(s):  
Nir Shvalb ◽  
Boaz Ben Moshe ◽  
Oded Medina
Keyword(s):  
Motion Planning ◽  
Real Time ◽  
Configuration Space ◽  
Degrees Of Freedom ◽  
Morse Function ◽  
Climbing Robot ◽  
Probabilistic Algorithm ◽  
Road Map ◽  
Time Motion ◽  
Planning Algorithm

SUMMARYWe introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space${\EuScript C}$. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace${\EuScript O}$. We define a varying potential fieldfon ∂${\EuScript O}$as a Morse function and follow$\vec{\nabla} f$. We then exemplify our algorithm on a redundant worm climbing robot withndegrees of freedom and compare our algorithm running results with those of the PRM.

Motion Planning for Climbing Robot Based on Hybrid Navigation

2006 ◽  
pp. 91-100
Author(s):  
Yong Jiang ◽  
Hongguang Wang ◽  
Lijin Fang ◽  
Mingyang Zhao
Keyword(s):  
Motion Planning ◽  
Climbing Robot

scholarly journals Employing Natural Terrain Semantics in Motion Planning for a Multi-Legged Robot

2018 ◽  
Vol 93 (3-4) ◽  
pp. 723-743 ◽  
Author(s):  
Dominik Belter ◽  
Jan Wietrzykowski ◽  
Piotr Skrzypczyński
Keyword(s):  
Motion Planning ◽  
Legged Robot ◽  
Natural Terrain
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