Motion planning of multi-limbed robots subject to equilibrium constraints: The free-climbing robot problem

International Journal of Robotics Research

Volumn 25, Issue 4, 2006, Pages 317-342

  Bretl, Timothy ^a  

^a Stanford University   (United States)

Author keywords

Climbing robots; Closed kinematic chains; Equilibrium constraints; Free climbing; Motion planning; Probabilistic roadmaps

Indexed keywords

ALGORITHMS; FRICTION; MOTION PLANNING; PROBABILISTIC LOGICS;

CLIMBING ROBOTS; CLOSED KINEMATIC CHAINS; EQUILIBRIUM CONSTRAINTS; FREE-CLIMBING; PROBABILISTIC ROADMAPS;

INDUSTRIAL ROBOTS;

EID: 33645676493     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364906063979     Document Type: Article

References (46)

1. Abderrahim, M., Balaguer, C., Giménez, A., Pastor, J., and V. Padrón. 1999. ROMA: A climbing robot for inspection operations. IEEE International Conference on Robotics and Automation, Detroit, MI, pp. 2303 - 2308.
2. Alami, R., Laumond, J.-P., and Siméon, T. 1995. Two manipulation planning algorithms. K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson (Eds.), Algorithmic Foundations of Robotics, Wellesley, MA, A K Peters, pp. 109 - 125.
3. Almonacid, M., Saltarén, R., Aracil, R., and Reinoso, O. 2003. Motion planning of a climbing parallel robot. IEEE Transactions on Robotics and Automation, 19 (3). 485 - 489.
4. Bevly, D., Farritor, S., and Dubowsky, S. 2000. Action module planning and its application to an experimental climbing robot. IEEE International Conference on Robotics and Automation, pp. 4009 - 4014
5. Bicchi, A., and Kumar, V. 2000. Robotic grasping and contact: A review. IEEE International Conference on Robotics and Automation, San Francisco, pp. 348 - 353.
6. Boissonnat, J.-D., Devillers, O., and Lazard, S. 2000. Motion planning of legged robots. SIAM Journal of Computing 30 (1). 218 - 246
7. Boor, V., Overmars, M., and van der Stappen, A. 1999. The gaussian sampling strategy for probabilistic roadmap planners. In IEEE International Conference on Robotics and Automation, pp. 1018 - 1023.
8. Bretl, T. 2005. Multi-Step Motion Planning: Application to Free-Climbing Robots. Ph.D. thesis, Stanford University.
9. Bretl, T., and Lall, S. 2006. A fast and adaptive test of static equilibrium for legged robots. IEEE International Conference on Robotics and Automation, Orlando, FL.
10. Bretl, T., Lall, S., Latombe, J.-C., and Rock, S. 2004. Multistep motion planning for free-climbing robots. Proceedings of the International Workshop on Algorithmic Foundations of Robotics (WAFR), Zeist, Netherlands.
11. Bretl, T., Latombe, J.-C., and Rock, S. 2003. Toward autonomous free-climbing robots. International Symposium on Robotics Research, Siena, Italy.
12. Bretl, T., Rock, S., Latombe, J.-C., Kennedy, B., and Aghazarian, H. 2004. Free-climbing with a multi-use robot. International Symposium on Experimental Robotics, Singapore.
13. Bullo, F., and Zefran, M. 2002. Modeling and controllability for a class of hybrid mechanical systems. IEEE Transactions on Robotics and Automation 18 (4). 563 - 573.
14. Chen, I.-M., and Yeo, S. H. 2003. Locomotion of a twodimensional walking-climbing robot using a closed-loop mechanism: From gait generation to navigation. International-Journal of Robotics Research 22 (1). 21 - 40.
15. Choset, H., Lynch, K., Hutchinson, S., Kanto, G., Burgard, W., Kavraki, L., and Thrun, S. 2005. Principles of Robot Motion: Theory, Algorithms, and Implementations. Cambridge, MA, MIT Press.
16. Cortés, J., Siméon, T., and Laumond, J.-P. 2002. A random loop generator for planning the motions of closed kinematic chains using PRM methods. IEEE International Conference on Robotics and Automation, Washington, DC, pp. 2141 - 2146.
17. Dulimarta, H., and Tummala, R. L. 2002. Design and control of miniature climbing robots with nonholonomic constraints. WCICA, Shanghai, People's Republic of China.
18. Eldershaw, C., and Yim, M. 2001. Motion planning of legged vehicles in an unstructured environment. IEEE International Conference on Robotics and Automation, Seoul, South Korea.
19. Goodwine, B., and Burdick, J. 2002. Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting. IEEE Transactions on Automatic Control 18 (2). 209 - 222.
20. Grieco, J. C., Prieto, M., Armada, M., and de Santos, P. G. 1998. Asix-legged climbing robot for high payloads. IEEE International Conference on Control and Applications, Trieste, Italy
21. Han, L., and Amato, N. M. 2000. A kinematics-based probabilistic roadmap method for closed chain systems. Proceedings of the International Workshop on the Algorithmic Foundations of Robotics (WAFR), pp. 233 - 246.
22. Hauser, K., Bretl, T., and Latombe, J.-C. 2005a. Learningassisted multi-step planning. IEEE International Conference on Robotics and Automation, Barcelona, Spain.
23. Hauser, K., Bretl, T., and Latombe, J.-C. 2005b. Non-gaited humanoid locomotion planning. Humanoids, Tsukuba, Japan.
24. Hsu, D., Kavraki, L. E., Latombe, J.-C., Motwani, R., and Sorkin, S. 1998. On finding narrow passages with probabilistic roadmap planners. Proceedings of the International Workshop on the Algorithmic Foundations of Robotics (WAFR), Natick, MA, pp. 141 - 153.
25. Hsu, D., Latombe, J.-C., and Motwani, R. 1997. Path planning in expansive configuration spaces. IEEE International Conference on Robotics and Automation, pp. 2219 - 2226.
26. Kavraki, L. E., Svetska, P., Latombe, J.-C., and Overmars, M. 1996. Probabilistic roadmaps for path planning in highdimensional configuration spaces. IEEE Transactions on Robotics and Automation 12 (4). 566 - 580.
27. Koga, Y., and Latombe, J.-C. 1994. On multi-arm manipulation planning. IEEE International Conference on Robotics and Automation, San Diego, CA, pp. 945 - 952.
28. Kuffner, J. 1999. Autonomous Agents for Real-Time Animation. Ph.D. thesis, Stanford University.
29. Kuffner, Jr., J. J., Nishiwaki, K., Kagami, S., Inaba, M., and Inoue, H. 2003. Motion planning for humanoid robots. International Symposium on Robotics Research, Siena, Italy.
30. Latombe, J.-C. 1991. Robot Motion Planning. Boston, MA, Kluwer.
31. LaValle, S. M., Yakey, J. H., and Kavraki, L. E. 1999. A probabilistic roadmap approach for systems with closed kinematic chains. IEEE International Conference on Robotics and Automation, Detroit, MI, pp. 1671 - 1676.
32. Leven, P., and Hutchinson, S. 2003. Using manipulability to bias sampling during the construction of probabilistic roadmaps. IEEE Transactions on Robotics and Automation 19 (6). 1020 - 1026.
33. Long, J. 2000. How to Rock Climb! How to Rock Climb Series. Evergreen, CO, Chockstone Press.
34. Madhani,A., and Dubowsky, S. 1992. Motion planning of mobile multi-limb robotic systems subject to force and friction constraints. IEEE International Conference on Robotics and Automation, pp. 233 - 239.
35. Nagakubo, A., and Hirose, S. 1994. Walking and running of the quadruped wall-climbing robot. IEEE International Conference on Robotics and Automation, pp. 1005 - 1012.
36. Neubauer, W. 1994. A spider-like robot that climbs vertically in ducts or pipes. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1178 - 1185. Munich, Germany
37. Nielsen, C. L., and Kavraki, L. E. 2000. Atwo level fuzzy prm for manipulation planning. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Takamatsu, Japan, pp. 1716 - 1721.
38. Okamura, A., Smaby, N., and Cutkosky, M. 2000. An overview of dexterous manipulation. IEEE International Conference on Robotics and Automation, Symposium on Dexterous Manipulation, pp. 255 - 262.
39. Pettré, J., Laumond, J.-P., and Siméon, T. 2003. A 2-stages locomotion planner for digital actors. Eurographics/SIGGRAPH Symposium on Computer Animation, pp. 258 - 264.
40. Roßmann, T., and Pfeiffer, F. 1997. Control of an eight legged pipe crawling robot. International Symposium on Experimental Robotics, pp. 353 - 346.
41. Sahbani, A., Cortés, J., and Siméon, T. 2002. A probabilistic algorithm for manipulation planning under continuous grasps and placements. IEEE/RSJ International Conference on Intelligent Robotic Systems, Lausanne, Switzerland, pp. 1560 - 1565.
42. Sánchez, G., and Latombe, J.-C. 2002. On delaying collision checking in PRMplanning:Application to multi-robot coordination. International Journal of Robotics Research 21 (1). 5 - 26.
43. Shapiro, A., and Rimon, E. 2003. PCG: A foothold selection algorithm for spider robot locomotion in 2D tunnels. Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, pp. 2966 - 2972.
44. Sitti, M., and Fearing, R. 2003. Synthetic gecko foot-hair micro/nano-structures for future wall-climbing robots. Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 1164 - 1170.
45. Trinkle, J., and Milgram, R. 2002. Complete path planning for closed kinematic chains with spherical joints. International Journal of Robotics Research 21 (9). 773 - 789.
46. Yim, M., Homans, S., and Roufas, K. 2001. Climbing with snake-robots. IFAC Workshop on Mobile Robot Technology, Jejudo, Korea, pp. 7 - 12.