Rock Climbing Benchmark for Humanoid Robots

Jacky Baltes, Saeed Saeedvand

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we present the humanoid robot rock climbing competition as a benchmark problem for complex motion planning under kinematic and dynamic constraints. We also describe an advanced algorithm for motion planning in this domain. The algorithm finds stable configurations where three limbs are anchored to the wall and the fourth limb is moving. We suggest possible search techniques to find a sequence through these control funnels to find a path to the top of the climbing wall.

Original languageEnglish
Title of host publication2022 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665487184
DOIs
Publication statusPublished - 2022
Event2022 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2022 - Taipei, Taiwan
Duration: 2022 Aug 242022 Aug 27

Publication series

NameInternational Conference on Advanced Robotics and Intelligent Systems, ARIS
Volume2022-August
ISSN (Print)2374-3255
ISSN (Electronic)2572-6919

Conference

Conference2022 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2022
Country/TerritoryTaiwan
CityTaipei
Period2022/08/242022/08/27

Keywords

  • intelligent robotics
  • simulation
  • typescript
  • web

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Artificial Intelligence

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