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

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3 Author(s)
Bretl, T. ; Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA ; Rock, S. ; Latombe, J.-C.

This paper presents a general framework for planning the quasi-static motion of a three-limbed climbing robot in vertical natural terrain. The problem is to generate a sequence of continuous one-step motions between consecutive holds that will allow the robot to reach a particular goal hold. A detailed algorithm is presented to compute a one-step motion considering the equilibrium constraint only. The overall framework combines this local planner with a heuristic search technique to generate a complete plan. An online implementation of the algorithm is demonstrated in simulation.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:3 )

Date of Conference:

14-19 Sept. 2003