Single-step collision-free trajectory planning of biped climbing robots in spatial trusses

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• 作者：Haifei Zhu ; Yisheng Guan ; Shengjun Chen ; Manjia Su ; Hong Zhang
• 关键词：Biped climbing robots ; Motion planning ; Collision avoidance ; Path smoothing ; Rapidly ; exploring random tree
• 刊名：Robotics and Biomimetics
• 出版年：2016
• 出版时间：December 2016
• 年：2016
• 卷：3
• 期：1
• 全文大小：2,135 KB
• 刊物类别：Robotics and Automation; Systems Biology; Behavioral Sciences;
• 刊物主题：Robotics and Automation; Systems Biology; Behavioral Sciences;
• 出版者：Springer Berlin Heidelberg
• ISSN：2197-3768

文摘

For a biped climbing robot with dual grippers to climb poles, trusses or trees, feasible collision-free climbing motion is inevitable and essential. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan single-step collision-free motion for biped climbing robots in spatial trusses. To deal with the orientation limit of a 5-DoF biped climbing robot, a new state representation along with corresponding operations including sampling, metric calculation and interpolation is presented. A simple but effective model of a biped climbing robot in trusses is proposed, through which the motion planning of one climbing cycle is transformed to that of a manipulator. In addition, the pre- and post-processes are introduced to expedite the convergence of the Bi-RRT algorithm and to ensure the safe motion of the climbing robot near poles as well. The piecewise linear paths are smoothed by utilizing cubic B-spline curve fitting. The effectiveness and efficiency of the presented Bi-RRT algorithm for climbing motion planning are verified by simulations.