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Applied Complex Motion Planning and Motion Control for Humanoid Robots in Vertical Motion Sceneries

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Trends in Intelligent Robotics (FIRA 2010)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 103))

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Abstract

Robots moving up walls or similarly rampant terrain have been analyzed and developed for a longer time. Today systems can be found in real-world scenarios like window cleaning or inspection applications. However, with regard to the complexity of the motion control, research was usually dedicated to climbing mechanisms with vacuum, wheel or multi-leg systems. Biped humanoid robots have to overcome severe control problems and have therefore not been considered for these kind of applications. Nevertheless in this paper we describe a much more challenging scenario: A humanoid robot designed to climb up a freely configurable climbing wall totally autonomously.

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References

  1. Nassal, U.M.: Bewegungskoordination und reaktive Steuerung autonomer mobiler Mehrmanipulatorsysteme. VDI Verlag GmbH: Düsseldorf (1996)

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Author information

Authors and Affiliations

  1. Dipl.-Inf. Marco Wickrath, Technical University of Dortmund, Otto-Hahn-Str. 14, D-44221, Dortmund, Germany

    Marco Wickrath

Authors
  1. Marco Wickrath
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Editor information

Editors and Affiliations

  1. National University of Singapore, Singapore

    Prahlad Vadakkepat  & Tan Kok Kiong  & 

  2. Dept. of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology, Daejeon, South Korea

    Jong-Hwan Kim

  3. Technische Universität Dortmund, Dortmund, Germany

    Norbert Jesse

  4. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, 117576, Singapore

    Abdullah Al Mamun

  5. Department of Computer Science, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    Jacky Baltes  & John Anderson  & 

  6. Dept. of Education in Technology & Science, Technion - Israel Institute of Technology, 32000, Haifa, Israel

    Igor Verner

  7. Trinity College, Hartford, CT, USA

    David Ahlgren

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© 2010 Springer-Verlag Berlin Heidelberg

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Wickrath, M. (2010). Applied Complex Motion Planning and Motion Control for Humanoid Robots in Vertical Motion Sceneries. In: Vadakkepat, P., et al. Trends in Intelligent Robotics. FIRA 2010. Communications in Computer and Information Science, vol 103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15810-0_11

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  • DOI: https://doi.org/10.1007/978-3-642-15810-0_11

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-15809-4

  • Online ISBN: 978-3-642-15810-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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