Jimmy, the 2013 champion in the FIRA ladder-climbing event held in Malaysia, demonstrates his new, dynamic ladder-climbing technique.
In 2013 the ladder had fixed, evenly-spaced rungs. For the 2014 competition the rungs will be randomly-spaced 10 to 20cm apart. This means we can no longer rely entirely on static motions as we did last year. Instead Jimmy uses his on-board camera to calculate the distance to the next rung while climbing, dynamically calculating where to place his hands and feet.
The only information the robot is given in advance is the inclination of the ladder (45 degrees in this case), and the distance from the ground to each of the first two rungs. All other information is calculated as the robot climbs.
The robot uses its camera, the three-axis accelerometer in the torso, pressure sensors in the feet, and torque sensors in the hands and knees as inputs when calculating its motions. The wireframe models in the video show the robot's live position as it climbs (i.e. not a simulation, but playback of realtime data collected on the robot while climbing).
Music: "Houses" by Moby, licensed via MobyGratis
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