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College of Engineering(공과대학)School of Mechanical and Aerospace Engineering(기계항공공학부)Dept. of Mechanical Engineering(기계공학과)ME-Conference Papers(학술회의논문)

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

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dc.contributor.authorZhang, Yajiako
dc.contributor.authorLuo, Jingruko
dc.contributor.authorHauser, Krisko
dc.contributor.authorPark, H Andyko
dc.contributor.authorPaldhe, Manasko
dc.contributor.authorLee, C S Georgeko
dc.contributor.authorEllenberg, Robertko
dc.contributor.authorKillen, Brittanyko
dc.contributor.authorOh, Paulko
dc.contributor.authorOh, Jun-Hoko
dc.contributor.authorLee, Junghoko
dc.contributor.authorKim, Inhyeokko
dc.date.accessioned2023-11-01T10:00:49Z-
dc.date.available2023-11-01T10:00:49Z-
dc.date.created2023-11-01-
dc.date.issued2014-05-
dc.identifier.citation2014 IEEE International Conference on Robotics and Automation, ICRA 2014, pp.2086-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10203/314044-
dc.description.abstractThis 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.-
dc.languageEnglish-
dc.publisherIEEE Robotics and Automation Society-
dc.titleMotion planning and control of ladder climbing on DRC-Hubo for DARPA Robotics Challenge-
dc.typeConference-
dc.identifier.wosid000377221102017-
dc.identifier.scopusid2-s2.0-84929176331-
dc.type.rimsCONF-
dc.citation.beginningpage2086-
dc.citation.publicationname2014 IEEE International Conference on Robotics and Automation, ICRA 2014-
dc.identifier.conferencecountryCC-
dc.identifier.conferencelocationHong Kong-
dc.identifier.doi10.1109/ICRA.2014.6907139-
dc.contributor.localauthorOh, Jun-Ho-
dc.contributor.nonIdAuthorZhang, Yajia-
dc.contributor.nonIdAuthorLuo, Jingru-
dc.contributor.nonIdAuthorHauser, Kris-
dc.contributor.nonIdAuthorPark, H Andy-
dc.contributor.nonIdAuthorPaldhe, Manas-
dc.contributor.nonIdAuthorLee, C S George-
dc.contributor.nonIdAuthorEllenberg, Robert-
dc.contributor.nonIdAuthorKillen, Brittany-
dc.contributor.nonIdAuthorOh, Paul-
dc.contributor.nonIdAuthorLee, Jungho-
dc.contributor.nonIdAuthorKim, Inhyeok-
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ME-Conference Papers(학술회의논문)
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