Skip to Main content Skip to Navigation
Conference papers

Vertical ladder climbing by the HRP-2 humanoid robot

Abstract : We report the results obtained from our trials in making the HRP-2 humanoid robot climb vertical industrial-norm ladders. We integrated our multi-contact planner and multi-objective QP control as basic components. First, a set of contacts to climb the ladder is planned off-line and provided as an input for a finite state machine that sequences tasks to be realized by our multi-objective model-based QP in closed-loop control. The trials we made revealed that hardware changes are to be made on the HRP-2, and the software has to be made more robust. Yet, we confirmed that HRP-2 has power capability to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturings (e.g. airliners, shipyards and buildings).
Complete list of metadatas

Cited literature [19 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01276934
Contributor : Brossette Stanislas <>
Submitted on : Tuesday, February 23, 2016 - 3:39:05 AM
Last modification on : Tuesday, June 18, 2019 - 12:06:37 PM
Document(s) archivé(s) le : Sunday, November 13, 2016 - 12:13:46 AM

File

humanoids2014-JV.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

Joris Vaillant, Abderrahmane Kheddar, Hervé Audren, François Keith, Stanislas Brossette, et al.. Vertical ladder climbing by the HRP-2 humanoid robot. Humanoids, Nov 2014, Madrid, Spain. pp.671-676, ⟨10.1109/HUMANOIDS.2014.7041435⟩. ⟨hal-01276934⟩

Share

Metrics

Record views

360

Files downloads

1048