DC Field | Value | Language |
---|---|---|
dc.contributor.author | Luo, Jingru | ko |
dc.contributor.author | Zhang, Yajia | ko |
dc.contributor.author | Hauser, Kris | ko |
dc.contributor.author | Park, H Andy | ko |
dc.contributor.author | Paldhe, Manas | ko |
dc.contributor.author | Lee, C S George | ko |
dc.contributor.author | Grey, Michael | ko |
dc.contributor.author | Stilman, Mike | ko |
dc.contributor.author | Oh, Jun-Ho | ko |
dc.contributor.author | Lee, Jungho | ko |
dc.contributor.author | Kim, Inhyeok | ko |
dc.contributor.author | Oh, Paul | ko |
dc.date.accessioned | 2023-11-01T10:00:44Z | - |
dc.date.available | 2023-11-01T10:00:44Z | - |
dc.date.created | 2023-11-01 | - |
dc.date.issued | 2014-05 | - |
dc.identifier.citation | 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, pp.2792 - 2798 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10203/314043 | - |
dc.description.abstract | This paper presents an autonomous planning and control framework for humanoid robots to climb general ladder- and stair-like structures. The approach consists of two major components: 1) a multi-limbed locomotion planner that takes as input a ladder model and automatically generates a whole-body climbing trajectory that satisfies contact, collision, and torque limit constraints; 2) a compliance controller which allows the robot to tolerate errors from sensing, calibration, and execution. Simulations demonstrate that the robot is capable of climbing a wide range of ladders and tolerating disturbances and errors. Physical experiments demonstrate the DRC-Hubo humanoid robot successfully mounting, climbing, and dismounting an industrial ladder similar to the one intended to be used in the DARPA Robotics Challenge Trials. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society | - |
dc.title | Robust ladder-climbing with a humanoid robot with application to the DARPA Robotics Challenge | - |
dc.type | Conference | - |
dc.identifier.wosid | 000377221102137 | - |
dc.identifier.scopusid | 2-s2.0-84929192242 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 2792 | - |
dc.citation.endingpage | 2798 | - |
dc.citation.publicationname | 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 | - |
dc.identifier.conferencecountry | CC | - |
dc.identifier.conferencelocation | Hong Kong | - |
dc.identifier.doi | 10.1109/ICRA.2014.6907259 | - |
dc.contributor.localauthor | Oh, Jun-Ho | - |
dc.contributor.nonIdAuthor | Luo, Jingru | - |
dc.contributor.nonIdAuthor | Zhang, Yajia | - |
dc.contributor.nonIdAuthor | Hauser, Kris | - |
dc.contributor.nonIdAuthor | Park, H Andy | - |
dc.contributor.nonIdAuthor | Paldhe, Manas | - |
dc.contributor.nonIdAuthor | Lee, C S George | - |
dc.contributor.nonIdAuthor | Grey, Michael | - |
dc.contributor.nonIdAuthor | Stilman, Mike | - |
dc.contributor.nonIdAuthor | Lee, Jungho | - |
dc.contributor.nonIdAuthor | Kim, Inhyeok | - |
dc.contributor.nonIdAuthor | Oh, Paul | - |
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