• DocumentCode
    1277137
  • 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
  • Volume
    27
  • Issue
    6
  • fYear
    2011
  • Firstpage
    1132
  • Lastpage
    1137
  • 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);
  • fLanguage
    English
  • Journal_Title
    Robotics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1552-3098
  • Type

    jour

  • DOI
    10.1109/TRO.2011.2160668
  • Filename
    5958628
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1277137