Paper Info
Title
Representation of truss-style structures for autonomous climbing of biped pole-climbing robots.
Abstract
For autonomous pole-climbing robots, mapping and recognition of truss-style structures is a challenging task. To build an autonomous climbing system, a truss modeling and recognition system is proposed and applied to autonomous climbing. The system consists of three parts: environment modeling, segmentation by a proposed algorithm called Pouring Algorithm, as well as Truss Parametric Expression Algorithm (TPEA). The experiments show that our study is able to model the truss and extract the parametric expression with a 7.11 mm absolute error of the pole radius and a 9.38% relative error of the pole length. In addition, an autonomous climbing experiment based on our system with a climbing robot is illustrated, verifying the ability of our work to meet the requirement of autonomous climbing.
Year
DOI
Venue
2018
10.1016/j.robot.2018.01.002
Robotics and Autonomous Systems
Keywords
Field
DocType
Autonomous climbing robot,Parametric expression,Truss-style structure
Computer vision,Truss,Recognition system,Climbing robots,Computer science,Segmentation,Parametric statistics,Artificial intelligence,Robot,Climbing,Approximation error
Journal
Volume
ISSN
Citations 
101
0921-8890
0
PageRank 
References 
Authors
0.34
6
6
Name
Order
Citations
PageRank
Weinan Chen1145.72
Shichao Gu201.01
lei zhu32523.09
Hong Zhang4389.31
Haifei Zhu52013.25
Yisheng Guan613745.41