Motion Planning for Climbing Mobility with Implementation on a Wall-Climbing Robot
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ieee_aero_19_albee_et_al.pdf
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11.02 MB
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Author(s)
Albee, Keenan Eugene Sumner
Espinoza, Antonio Teran
Andreyeva, Kristina
Werner, Nathan
Chen, Howei
Sarvary, Tamas
Date Issued
June 2019
Journal
2019 IEEE Aerospace Conference
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Albee, Keenan et al. "Motion Planning for Climbing Mobility with Implementation on a Wall-Climbing Robot." 2019 IEEE Aerospace Conference, March 2019, Big Sky, Montana, USA, Institute of Electrical and Electronics Engineers, June 2019. © 2019 IEEE
Version
Author's final manuscript
Abstract
Future autonomous planetary explorers will require extreme terrain mobility to reach areas of interest, such as walled lunar pits and steep Martian rock layers. Climbing mobility systems are one proposed answer, requiring efficient and kinematically feasible motion planning for autonomous operation. Similarly, climbing planning is applicable to other micro-gravity situations requiring constant end effector contact with discrete handholds. This paper proposes a planning framework that poses kinematic climbing planning as a discrete optimal planning problem. Motion primitives are used to encourage large robot body workspaces and beneficial connections between climbing stances. A wall-climbing planner simulation is presented, along with implementation on a hardware demonstration testbed that successfully recognized, navigated, and climbed an arbitrary vertical wall.
MIT Department
Massachusetts Institute of Technology. Space Systems Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/aero.2019.8741696
