{Reference Type}: Journal Article
{Title}: Single-step collision-free trajectory planning of biped climbing robots in spatial trusses.
{Author}: Zhu H;Guan Y;Chen S;Su M;Zhang H;
{Journal}: Robotics Biomim
{Volume}: 3
{Issue}: 0
{Year}: 2016
暂无{DOI}: 10.1186/s40638-016-0033-3
{Abstract}: For a biped climbing robot with dual grippers to climb poles, trusses or trees, feasible collision-free climbing motion is inevitable and essential. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan single-step collision-free motion for biped climbing robots in spatial trusses. To deal with the orientation limit of a 5-DoF biped climbing robot, a new state representation along with corresponding operations including sampling, metric calculation and interpolation is presented. A simple but effective model of a biped climbing robot in trusses is proposed, through which the motion planning of one climbing cycle is transformed to that of a manipulator. In addition, the pre- and post-processes are introduced to expedite the convergence of the Bi-RRT algorithm and to ensure the safe motion of the climbing robot near poles as well. The piecewise linear paths are smoothed by utilizing cubic B-spline curve fitting. The effectiveness and efficiency of the presented Bi-RRT algorithm for climbing motion planning are verified by simulations.