Transition Analysis and Its Application to Global Path Determination for a Biped Climbing Robot
Transition Analysis and Its Application to Global Path Determination for a Biped Climbing Robot
复制标题
过渡分析及其在双足攀爬机器人全局路径确定中的应用
DOI：
10.3390/app8010122
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发表时间：
2018-01
影响因子：
2.7
通讯作者：
Zhang Hong
中科院分区：
文献类型：
--
作者：
Zhu Haifei;Gu Shichao;He Li;Guan Yisheng;Zhang Hong
双足攀爬机器人被认为是执行高层桁架相关日常任务的人类工人的良好助手和（或）替代品。在三维复杂桁架上的柔性运动是这些机器人的一项基本技能。特别是，从一个结构构件转移到另一个结构构件的能力对于切换要爬的物体是至关重要的。本文研究了成员间转移及其在双足爬行机器人全局路径搜索中的应用。为了计算过渡的操作区域，考虑了握把的安全性、可达性和可及性的分层检查。在此基础上，提出了一种基于过渡分析的全局路径快速确定方法。该方案能够有效地根据整体结构环境找到可行的路径，也有利于后续的抓地和运动规划。利用自主研发的双足爬行机器人Climbot进行了仿真，验证了该方法的有效性。结果表明，该方法能够在几十毫秒内准确确定过渡的操作区域，一般在几秒内获得全局路径。
Biped climbing robots are considered good assistants and (or) substitutes for human workers carrying out high-rise truss-associated routine tasks. Flexible locomotion on three-dimensional complex trusses is a fundamental skill for these robots. In particular, the capability to transit from one structural member to another is paramount for switching objects to be climbed upon. In this paper, we study member-to-member transition and its utility in global path searching for biped climbing robots. To compute operational regions for transition, hierarchical inspection of safety, reachability, and accessibility of grips is taken into account. A novel global path rapid determination approach is subsequently proposed based on the transition analysis. This scheme is efficient for finding feasible routes with respect to the overall structural environment, which also benefits the subsequent grip and motion planning. Simulations are conducted with Climbot, our self-developed biped climbing robot, to verify the efficiency of the presented method. Results show that our proposed method is able to accurately determine the operational region for transition within tens of milliseconds and can obtain global paths within seconds in general.
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DOI：
10.1109/iros.1992.587291
发表时间：
1992-07
期刊：
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
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DOI：
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发表时间：
2011-12
期刊：
2011 IEEE International Conference on Robotics and Biomimetics
影响因子：
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作者：
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通讯作者：
Wingkwong Chung;Yangsheng Xu
影响因子：
2
作者：
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DOI：
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发表时间：
2007-04
期刊：
Proceedings 2007 IEEE International Conference on Robotics and Automation
影响因子：
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作者：
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通讯作者：
Yeoreum Yoon;D. Rus
DOI：
10.1109/robio.2007.4522213
发表时间：
2007-12
期刊：
2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)
影响因子：
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作者：
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通讯作者：
Y. Guan;Li Jiang;Xianmin Zhang