{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T22:18:15Z","timestamp":1777501095289,"version":"3.51.4"},"reference-count":20,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2018,6,11]],"date-time":"2018-06-11T00:00:00Z","timestamp":1528675200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,7,19]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Applications of robotic systems in agriculture, forestry and high-altitude work will enter a new and huge stage in the near future. For these application fields, climbing robots have attracted much attention and have become one central topic in robotic research. The purpose of this paper is to propose an energy-optimal motion planning method for climbing robots that are applied in an outdoor environment.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>First, a self-designed climbing robot named Climbot is briefly introduced. Then, an energy-optimal motion planning method is proposed for Climbot with simultaneous consideration of kinematic constraints and dynamic constraints. To decrease computing complexity, an acceleration continuous trajectory planner and a path planner based on spatial continuous curve are designed. Simulation and experimental results indicate that this method can search an energy-optimal path effectively.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Climbot can evidently reduce energy consumption when it moves along the energy-optimal path derived by the method used in this paper.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Research limitations\/implications<\/jats:title>\n<jats:p>Only one step climbing motion planning is considered in this method.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>With the proposed motion planning method, climbing robots applied in an outdoor environment can commit more missions with limit power supply. In addition, it is also proved that this motion planning method is effective in a complicated obstacle environment with collision-free constraint.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The main contribution of this paper is that it establishes a two-planner system to solve the complex motion planning problem with kinodynamic constraints.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-11-2017-0200","type":"journal-article","created":{"date-parts":[[2018,6,11]],"date-time":"2018-06-11T10:58:38Z","timestamp":1528714718000},"page":"343-353","source":"Crossref","is-referenced-by-count":10,"title":["Energy-optimal motion planning of a biped pole-climbing robot with kinodynamic constraints"],"prefix":"10.1108","volume":"45","author":[{"given":"Xuefeng","family":"Zhou","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Li","family":"Jiang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yisheng","family":"Guan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haifei","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dan","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Taobo","family":"Cheng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hong","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2018,6,11]]},"reference":[{"issue":"11","key":"key2021041507275193600_ref001","first-page":"968","article-title":"Energy efficient bipedal robots walking in resonance","volume":"94","year":"2015","journal-title":"ZAMM \u2013 Journal of Applied Mathematics and Mechanics\/Zeitschrift f\u00fcr Angewandte Mathematik und Mechanik"},{"issue":"5","key":"key2021041507275193600_ref002","first-page":"233","article-title":"Smooth and time-optimal trajectory planning for industrial manipulators along specified paths","volume":"17","year":"2015","journal-title":"Journal of Robotic Systems"},{"issue":"3","key":"key2021041507275193600_ref003","doi-asserted-by":"crossref","first-page":"507","DOI":"10.1109\/TRA.2003.810235","article-title":"Kinematic feasibility analysis of 3-D multifingered grasps","volume":"19","year":"2003","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"key2021041507275193600_ref004","first-page":"1473","article-title":"Climbot: a modular bio-inspired biped climbing robot","volume-title":"IEEE International Conference on Intelligent Robots and Systems","year":"2011"},{"issue":"2","key":"key2021041507275193600_ref005","first-page":"1","article-title":"Climbot: a bio-inspired modular biped climbing robot\u2014system development, climbing gaits, and experiments","volume":"8","year":"2016","journal-title":"Journal of Mechanisms and Robotics"},{"issue":"3","key":"key2021041507275193600_ref006","doi-asserted-by":"crossref","first-page":"233","DOI":"10.1177\/027836402320556421","article-title":"Randomized kinodynamic motion planning with moving obstacles","volume":"21","year":"2002","journal-title":"International Journal of Robotics Research"},{"issue":"2","key":"key2021041507275193600_ref007","doi-asserted-by":"crossref","first-page":"279","DOI":"10.1016\/j.sysconle.2011.11.005","article-title":"Energy-optimal trajectory planning for robot manipulators with holonomic constraints","volume":"61","year":"2012","journal-title":"Systems and Control Letters"},{"issue":"7","key":"key2021041507275193600_ref008","doi-asserted-by":"crossref","first-page":"846","DOI":"10.1177\/0278364911406761","article-title":"Sampling-based algorithms for optimal motion planning","volume":"30","year":"2011","journal-title":"International Journal of Robotics Research"},{"issue":"6","key":"key2021041507275193600_ref009","doi-asserted-by":"crossref","first-page":"1107","DOI":"10.1109\/TRO.2011.2162273","article-title":"Climbing strategy for a flexible tree climbing robot - 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