Multi-contact vertical ladder climbing with an HRP-2 humanoid

Abstract : We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control for- mulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites.
Document type :
Journal articles
Liste complète des métadonnées

Cited literature [57 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01276931
Contributor : Brossette Stanislas <>
Submitted on : Tuesday, February 23, 2016 - 2:36:09 PM
Last modification on : Thursday, March 7, 2019 - 3:20:03 PM
Document(s) archivé(s) le : Sunday, November 13, 2016 - 12:06:32 AM

File

auro.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

Joris Vaillant, Abderrahmane Kheddar, Hervé Audren, François Keith, Stanislas Brossette, et al.. Multi-contact vertical ladder climbing with an HRP-2 humanoid. Autonomous Robots, Springer Verlag, 2016, 40 (3), pp.561-580. ⟨10.1007/s10514-016-9546-4⟩. ⟨hal-01276931⟩

Share

Metrics

Record views

311

Files downloads

858