This paper presents a general framework for planning the quasi-static motion of climbing robots. The framework is instantiated to compute climbing motions of a three-limbed robot in vertical natural terrain. An example resulting path through a large simulated environment is presented.
The planning problem is one of five fundamental challenges to the development of real robotic systems able to climb real natural terrain. Each of the four other areas—hardware design, control, sensing, and grasping—is also discussed.
Source: Stanford University
Author: Timothy Bretl, Teresa Miller, Stephen Rock, Jean-Claude Latombe