Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints
Jingwen Zhang Xuan Lin Dennis W Hong Jingwen Zhang Xuan Lin Dennis W Hong
In order to achieve autonomous vertical wall climbing, the transition phase from the ground to the wall requires extra consideration inevitably. This paper focuses on the contact sequence planner to transition between flat terrain and vertical surfaces for multi-limbed climbing robots. To overcome the transition phase, it requires planning both multicontact and contact wrenches simultaneously whic...