Name
Title | ||
|---|---|---|
A binary approximating method for graspable region determination of biped climbing robots. |
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. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1080/01691864.2014.959051 | ADVANCED ROBOTICS |
Keywords | Field | DocType |
biped climbing robot,workspace,graspable region,binary approximating method | Motion planning,Motion control,GRASP,Workspace,Control theory,A priori and a posteriori,Control engineering,Engineering,Robot,Climbing,Grippers | Journal |
Volume | Issue | ISSN |
28 | 21 | 0169-1864 |
Citations | PageRank | References |
1 | 0.39 | 16 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Haifei Zhu | 1 | 20 | 13.25 |
| Yisheng Guan | 2 | 137 | 45.41 |
| Wenqiang Wu | 3 | 17 | 6.01 |
| Xin Chen | 4 | 478 | 31.81 |
| Xuefeng Zhou | 5 | 37 | 12.04 |
| Hong Zhang | 6 | 582 | 74.33 |