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A binary approximating method for graspable region determination of biped climbing robots.
- Source :
-
Advanced Robotics . Nov2014, Vol. 28 Issue 21, p1405-1418. 14p. - Publication Year :
- 2014
-
Abstract
- For a biped pole-climbing robot (BiPCR) with grippers, it is an essential demand to determine the target grasp configuration for climbing and transiting between poles, with the graspable region as a priori knowledge. The graspable region on the target pole is critically important for climbing path planning and motion control. To efficiently compute the graspable region for a BiPCR, we propose a novel binary approximating method in this paper. This method may also be applied to generate the three-dimensional (3-D) workspace of a manipulator with constant orientation. The grasping problem and the concept of graspable region for a BiPCR are first introduced. The binary approximating method and the corresponding algorithms are then presented to generate the graspable region. Additional constraints on a biped climbing robot with five degrees of freedom (DoFs) are presented as a supplement to the algorithm. A series of comprehensive simulations are conducted with the five-DoF and six-DoF climbing robots to verify the effectiveness of the proposed method. Finally, the dexterity of biped climbing robots with different DoFs is discussed. [ABSTRACT FROM PUBLISHER]
Details
- Language :
- English
- ISSN :
- 01691864
- Volume :
- 28
- Issue :
- 21
- Database :
- Academic Search Index
- Journal :
- Advanced Robotics
- Publication Type :
- Academic Journal
- Accession number :
- 99462775
- Full Text :
- https://doi.org/10.1080/01691864.2014.959051