@inproceedings{71c85767b9cf42a99cfd146476f0e06b,
title = "Global Path and Local Motion Planning for Humanoid Climbing Robot Using Kinect Sensor",
abstract = "This paper presents a study on improving the adaptability of humanoid climbing robots in vertical environments. Although the robot is intended to be used for rescue and load-bearing in mountains or other hazardous areas in the future, this paper focuses on a path planning and local planning algorithm for humanoid robot wall climbing as the initial phase of our development. The first step is to acquire a depth map to extract accurate climbing holds on the vertical wall. Secondly, we propose a global planning algorithm for the humanoid robot using data from Kinect. During climbing, the humanoid robot utilizes the local planning algorithm, based on quasi-static equilibrium, to adjust its body posture to remain in an equilibrium state. Finally, all algorithms are evaluated with a simple, practical example for a humanoid climbing robot system, and its effectiveness is demonstrated experimentally in a real environment.",
keywords = "Climbing, Humanoid robot, Kinect, Motion planning",
author = "Nguyen, {Dung Anh} and Akira Shimada",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 6th IFToMM Asian Mechanisms and Machine Science Conference, Asian MMS 2021 ; Conference date: 15-12-2021 Through 18-12-2021",
year = "2022",
doi = "10.1007/978-3-030-91892-7_11",
language = "English",
isbn = "9783030918910",
series = "Mechanisms and Machine Science",
publisher = "Springer Science and Business Media B.V.",
pages = "109--122",
editor = "Khang, {Nguyen Van} and Hoang, {Nguyen Quang} and Marco Ceccarelli",
booktitle = "Advances in Asian Mechanism and Machine Science - Proceedings of IFToMM Asian MMS 2021",
}