Rock Climbing Benchmark for Humanoid Robots

In this paper, we present the humanoid robot rock climbing competition as a benchmark problem for complex motion planning under kinematic and dynamic constraints. We also describe an advanced algorithm for motion planning in this domain. The algorithm finds stable configurations where three limbs are anchored to the wall and the fourth limb is moving. We suggest possible search techniques to find a sequence through these control funnels to find a path to the top of the climbing wall.