Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot

Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot

ASIBOT is an assistive climbing robot that is capable of aiding in daily tasks from fixed docking stations in the environment. A task-oriented design process was applied to improve the robot kinematic structure, which was based on the grid method. Twelve different robot designs were optimized for ty...

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Veröffentlicht in:IEEE transactions on robotics 2011-12, Vol.27 (6), p.1132-1137
Hauptverfasser: Jardon, A., Stoelen, M. F., Bonsignorio, F., Balaguer, C.
Format: Artikel
Sprache:eng
Schlagworte:
Animation
Animation and simulation
Applied sciences
assistive robotics
Computer science
control theory
systems
Control theory. Systems
Cost function
Design optimization
Docking
Exact sciences and technology
Grid method
Kinematics
Kitchens
Mobile robots
personal robots
Robotics
Robots
Stations
task-oriented design (TOD)
Tasks
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Beschreibung
Zusammenfassung:ASIBOT is an assistive climbing robot that is capable of aiding in daily tasks from fixed docking stations in the environment. A task-oriented design process was applied to improve the robot kinematic structure, which was based on the grid method. Twelve different robot designs were optimized for typical kitchen scenarios, followed by a quantitative comparison.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2011.2160668