@InProceedings{vaillant:humanoids:2014,
  author    = {Vaillant, Joris and Kheddar, Abderrahmane and Audren, Herv{\'e} and Keith, Fran{\c c}ois and Brossette, Stanislas and Kaneko, Kenji and Morisawa, Mitsuharu and Yoshida, Eiichi and Kanehiro, Fumio},
  title     = {Vertical ladder climbing by the HRP-2 humanoid robot},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots},
  year      = {2014},
  pages     = {671--676},
  address   = {Madrid, Spain},
  month     = {November 18-November 20},
  url       = {https://hal.archives-ouvertes.fr/hal-01276934/document},
  keywords  = {Grippers, Joints, Vectors, Legged locomotion, Humanoid robots, Kinematics},
  doi       = {10.1109/HUMANOIDS.2014.7041435},
  abstract  = {We report the results obtained from our trials in making the HRP-2 humanoid robot climb vertical industrial-norm ladders. We integrated our multi-contact planner and multi-objective QP control as basic components. First, a set of contacts to climb the ladder is planned off-line and provided as an input for a finite state machine that sequences tasks to be realized by our multi-objective model-based QP in closed-loop control. The trials we made revealed that hardware changes are to be made on the HRP-2, and the software has to be made more robust. Yet, we confirmed that HRP-2 has power capability to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturings (e.g. airliners, shipyards and buildings).}
}