TY - GEN
T1 - Rock Climbing Benchmark for Humanoid Robots
AU - Baltes, Jacky
AU - Saeedvand, Saeed
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
KW - intelligent robotics
KW - simulation
KW - typescript
KW - web
UR - http://www.scopus.com/inward/record.url?scp=85140986313&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85140986313&partnerID=8YFLogxK
U2 - 10.1109/ARIS56205.2022.9910449
DO - 10.1109/ARIS56205.2022.9910449
M3 - Conference contribution
AN - SCOPUS:85140986313
T3 - International Conference on Advanced Robotics and Intelligent Systems, ARIS
BT - 2022 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2022
Y2 - 24 August 2022 through 27 August 2022
ER -