Y. Yoshida

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

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…