Applied Complex Motion Planning and Motion Control for Humanoid Robots in Vertical Motion Sceneries

Robots moving up walls or similarly rampant terrain have been analyzed and developed for a longer time. Today systems can be found in real-world scenarios like window cleaning or inspection applications. However, with regard to the complexity of the motion control, research was usually dedicated to climbing mechanisms with vacuum, wheel or multi-leg systems. Biped humanoid robots have to overcome severe control problems and have therefore not been considered for these kind of applications. Nevertheless in this paper we describe a much more challenging scenario: A humanoid robot designed to climb up a freely configurable climbing wall totally autonomously.