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- W2012594623 abstract "This video presents our preliminary work towards addressing the ladder climbing event in DARPA Robotics Challenge (DRC) using DRC-Hubo robot. A ladder-climbing motion planner is developed which generates a collision-free, stable quasi-static trajectory for execution. Compliance control is enabled on arm joints to compensate for the calibration error, modeling error and control error. We have demonstrated that DRC-Hubo can robustly climb a variety of ladders in simulation and successfully climb a ship ladder on the hardware." @default.
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- W2012594623 date "2014-05-01" @default.
- W2012594623 modified "2023-10-16" @default.
- W2012594623 title "Motion planning and control of ladder climbing on DRC-Hubo for DARPA Robotics Challenge" @default.
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- W2012594623 doi "https://doi.org/10.1109/icra.2014.6907139" @default.
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