Toward Autonomous Free-Climbing Robots Goal Generic vs. Specific Robot Previous Multi-Limbed Climbing Robots Free Rock Climbing is about Natural Friction

Toward Autonomous Free-Climbing Robots Goal Generic vs. Specific Robot Previous Multi-Limbed Climbing Robots Free Rock Climbing is about Natural Friction www.phwiki.com

Toward Autonomous Free-Climbing Robots Goal Generic vs. Specific Robot Previous Multi-Limbed Climbing Robots Free Rock Climbing is about Natural Friction

Brinsley, Frank, Morning Drive-Time Personality has reference to this Academic Journal, PHwiki organized this Journal Toward Autonomous Free-Climbing Robots Tim Bretl Jean-Claude Latombe Stephen Rock Special thanks to Eric Baumgartner, Brett Kennedy, in addition to Hr in addition to Aghazarian at the Planetary Robotics Lab, NASA-JPL Goal Develop integrated control, planning, in addition to sensing capabilities to enable a wide class of multi-limbed robots to climb steep natural terrain. Generic vs. Specific Robot Generic LEMUR IIb, Planetary Robotics Lab, NASA-JPL Specific Sitti in addition to Fearing, UC Berkeley

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Previous Multi-Limbed Climbing Robots Each exploits a specific surface property NINJA II Hirose et al, 1991 Neubauer, 1994 Yim, PARC, 2002 Free Rock Climbing is about Natural Friction in addition to Non-Gaited Motion Gaited Non-Gaited

Overall, rock climbing is about how to apply strength, not about strength itself it is a problem-solving activity Example System Equilibrium Constraint Feasible positions of robot’s center of mass

Configuration Space For each combination of knee bends: Position (xP,yP) of pelvis Joint angles (q1,q2) of free limb Feasible Space Simple test as long as the feasibility of (xp,yp) where Feasible Space

Simple test as long as the feasibility of (xp,yp) Feasible (1,2) varying with (xp,yp), in one half of f where Qf Feasible Space Simple test as long as the feasibility of (xp,yp) Feasible (1,2), varying with (xp,yp), in one half of f Switching between halves of f Feasible Space Motion Planning Basic Approach (Probabilistic Roadmap) Sample 4D configuration space Check equilibrium condition Check (self-)collision Check torque limit Refined approach Sample 2D pelvis space, lift to full 4D paths Narrow passages are found in the 4D space

Achieve q2=0 Move with q2=0 Switch between halves of Qf Move with q2=0 Move to goal backstep highstep lieback JPL’s LEMUR robot

Current Work Terrain sensing in addition to hold detection Force control in addition to slippage sensing Uncertainty (hold location, limb positioning) Motion optimization Extension of feasible space analysis What’s Next Xtreme ironing

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