T. Teramachi — accepted AI-conference papers

2017

Planning and control of stable ladder climbing motion for the four-limbed Robot “WAREC-1”

X. Sun, K. Hashimoto, T. Teramachi, T. Matsuzawa, S. Kimura, N. Sakai +3

IROS 2017poster

This paper describes an approach that enables the four-limbed robot “WAREC-1” to climb up and down vertical ladders stably. First, the four-limbed robot “WAREC-1” is introduced and dynamic stability conditions in multi-mass model for ladder climbing are proposed as the basis of judging whether a fou…

Cited by 14 Source ↗Scholar ↗

2016

Trajectory generation for ladder climbing motion with separated path and time planning

X. Sun, K. Hashimoto, S. Hamamoto, A. Koizumi, T. Matsuzawa, T. Teramachi +1

IROS 2016poster

This paper introduces a motion planning method to generate ladder climbing motion for a four-limbed robot. This method contains the following points: (1) independent planning of path and time in 3 dimensional space for trajectory planning; (2) path length minimization according to given midpoints. I…

Cited by 8 Source ↗Scholar ↗