抄録
Climbing motion with hands and feet must be considered from the standpoints of torque, friction, balance, collision, and geometory. Massive search of constraint's space is needed. In this paper, forcusing on the necessity of the mechanical optimization for climbing higher objects, the body retention load index (BRLI) which considers mechanical constrains like friction, balance and torque is introduced, and based on that, it becomes possible to decide where hands and feet to be placed and what kinds of poses are better. We confirm effectiveness of our proposed method through simulation results and finally show the experiments in which a HRP-2 robot climbed a ladder and a car.
