Motion Planning for Climbing Mobility with Implementation on a Wall-Climbing Robot
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....
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| 格式: | 文件 |
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Institute of Electrical and Electronics Engineers (IEEE)
2021
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| 在线阅读: | https://hdl.handle.net/1721.1/132633 |
| _version_ | 1826203013192089600 |
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| author | Albee, Keenan Eugene Sumner Espinoza, Antonio Teran Andreyeva, Kristina Werner, Nathan Chen, Howei Sarvary, Tamas |
| author2 | Massachusetts Institute of Technology. Space Systems Laboratory |
| author_facet | Massachusetts Institute of Technology. Space Systems Laboratory Albee, Keenan Eugene Sumner Espinoza, Antonio Teran Andreyeva, Kristina Werner, Nathan Chen, Howei Sarvary, Tamas |
| author_sort | Albee, Keenan Eugene Sumner |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T12:29:26Z |
| format | Article |
| id | mit-1721.1/132633 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T12:29:26Z |
| publishDate | 2021 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1326332022-10-01T09:21:53Z Motion Planning for Climbing Mobility with Implementation on a Wall-Climbing Robot Albee, Keenan Eugene Sumner Espinoza, Antonio Teran Andreyeva, Kristina Werner, Nathan Chen, Howei Sarvary, Tamas Massachusetts Institute of Technology. Space Systems Laboratory Albee, Keenan Eugene Sumner 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. NASA (Grant 80NSSC17K0077) 2021-09-23T15:51:26Z 2021-09-23T15:51:26Z 2019-06 2019-03 Article http://purl.org/eprint/type/ConferencePaper 978-1-5386-6854-2 https://hdl.handle.net/1721.1/132633 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 http://dx.doi.org/10.1109/aero.2019.8741696 2019 IEEE Aerospace Conference Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) Keenan Albee |
| spellingShingle | Albee, Keenan Eugene Sumner Espinoza, Antonio Teran Andreyeva, Kristina Werner, Nathan Chen, Howei Sarvary, Tamas Motion Planning for Climbing Mobility with Implementation on a Wall-Climbing Robot |
| title | Motion Planning for Climbing Mobility with Implementation on a Wall-Climbing Robot |
| title_full | Motion Planning for Climbing Mobility with Implementation on a Wall-Climbing Robot |
| title_fullStr | Motion Planning for Climbing Mobility with Implementation on a Wall-Climbing Robot |
| title_full_unstemmed | Motion Planning for Climbing Mobility with Implementation on a Wall-Climbing Robot |
| title_short | Motion Planning for Climbing Mobility with Implementation on a Wall-Climbing Robot |
| title_sort | motion planning for climbing mobility with implementation on a wall climbing robot |
| url | https://hdl.handle.net/1721.1/132633 |
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