Title :
Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot
Author :
Jardon, A. ; Stoelen, Martin F. ; Bonsignorio, Fabio ; Balaguer, C.
Author_Institution :
Dept. of Syst. Enginnering & Autom, Univ. Carlos III de Madrid, Leganes, Spain
Abstract :
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.
Keywords :
mobile robots; robot kinematics; ASIBOT; fixed docking stations; robot kinematic structure; symmetric assistive climbing robot; task oriented kinematic design; Animation; Cost function; Kinematics; Mobile robots; Animation and simulation; assistive robotics; kinematics; personal robots; task-oriented design (TOD);
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2011.2160668
