title: Single-step collision-free trajectory planning of biped climbing robots in spatial trusses.
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.
authors.affiliation: Biomimetic and Intelligent Robotics Lab (BIRL), School of Electro-mechanical Engineering, Guangdong University of Technology, Hi-education Mega Center, Guangzhou, 510006 China.
authors.forename: Haifei
authors.initials: H
authors.lastname: Zhu
authors.affiliation: Biomimetic and Intelligent Robotics Lab (BIRL), School of Electro-mechanical Engineering, Guangdong University of Technology, Hi-education Mega Center, Guangzhou, 510006 China.
authors.forename: Yisheng
authors.initials: Y
authors.lastname: Guan
authors.affiliation: Biomimetic and Intelligent Robotics Lab (BIRL), School of Electro-mechanical Engineering, Guangdong University of Technology, Hi-education Mega Center, Guangzhou, 510006 China.
authors.forename: Shengjun
authors.initials: S
authors.lastname: Chen
authors.affiliation: Biomimetic and Intelligent Robotics Lab (BIRL), School of Electro-mechanical Engineering, Guangdong University of Technology, Hi-education Mega Center, Guangzhou, 510006 China.
authors.forename: Manjia
authors.initials: M
authors.lastname: Su
authors.affiliation: Biomimetic and Intelligent Robotics Lab (BIRL), School of Electro-mechanical Engineering, Guangdong University of Technology, Hi-education Mega Center, Guangzhou, 510006 China ; Department of Computing Science, University of Alberta, Edmonton, AB T6G 2E8 Canada.
authors.forename: Hong
authors.initials: H
authors.lastname: Zhang
keywords: Biped climbing robots; Collision avoidance; Motion planning; Path smoothing; Rapidly-exploring random tree