TY - GEN
T1 - Equilibrium state control for climbing robot
AU - Shimada, Akira
AU - Dung, Nguyen Anh
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/20
Y1 - 2016/6/20
N2 - This paper introduces the equilibrium state control considering hold cones for humanoid climbing robot. Recently, free-climbing has become popular and many climbing gyms have been opened. On the other hand, robots are expected as useful machines to assist human lives. To develop climbing robot is to expand the ability of humanoid robots and they can be used at not only horizontal spaces but also vertical space in mountain areas or disaster areas. Particularly, this paper makes clear the constraints needed on climbing robots and presents a balance control condition to perform wall climbing.
AB - This paper introduces the equilibrium state control considering hold cones for humanoid climbing robot. Recently, free-climbing has become popular and many climbing gyms have been opened. On the other hand, robots are expected as useful machines to assist human lives. To develop climbing robot is to expand the ability of humanoid robots and they can be used at not only horizontal spaces but also vertical space in mountain areas or disaster areas. Particularly, this paper makes clear the constraints needed on climbing robots and presents a balance control condition to perform wall climbing.
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U2 - 10.1109/AMC.2016.7496392
DO - 10.1109/AMC.2016.7496392
M3 - Conference contribution
AN - SCOPUS:84982868480
T3 - 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
SP - 455
EP - 460
BT - 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th IEEE International Workshop on Advanced Motion Control, AMC 2016
Y2 - 22 April 2016 through 24 April 2016
ER -