Motion Generation in Frame Structure for A Limb-Type Robot Including Feature to Avoid Obstacles

Abstract

This paper studies generation of movement of a Limb-Type robot which climbs and goes through frame structure such as a ladder or Jungle-Gym. The proposed method for motion generation is based on Artificial Potential Method (APM) and physical constraints of a robot. Results of simulation show that the joint trajectory of limbs is generated to climb a ladder and to pass between rungs of the ladder. Movement maneuver of this study resolves a kind of complex motion planning of a Limb-Type robot equipped with multiple limbs.