Realization of Optimal Posture and Visual Feedback Control on Climbing Robot

Abstract

This paper introduces a sensing with YOLO and control technique on a humanoid climbing robot. Humanoid robots are expected to assist a variety of our tasks. We have focused on free climbing performed by a humanoid robot. In practice, the proposed controller solves the non-linear optimization problem to derive the best posture for climbing and perform visual servo control on an arm or leg. Moreover, this paper presents the robot's effectiveness with additional waist motion.