QQ客服 官方微博 反馈留言

	Path Planning for Clothes Climbing Robots on Deformable Clothes
	Yuanyuan Liu; Xinyu Wu; Dezhen Song; Ruiqing Fu; Duan Zheng; Yangsheng Xu
	2012
会议名称	IEEE/RSJ International Conference on Intelligent Robots and Systems
会议地点	葡萄牙
英文摘要	This paper proposes a novel path planning method for a robot to climb on the deformable clothes surface. Based on the deformable characteristic of the clothes, the tension force of clothes is analyzed and the model of tension degree is established. A clothes climbing robot called Clothbot is composed of a two-wheeled gripper and a 2 Degrees of Freedom (DOF) tail. Based on the locomotion of this robot, the weights of tension degree and the locomotion characteristic are added into the A algorithm. Combined with the two weights applied, the optimal path to the target for the Clothbot is obtained. The Clothbot has been developed to evaluate the algorithm. The simulation and the experiments have verified the feasibility of this method. In addition, The error state of the movement of the robot which is called side tumbling has been corrected by the motion of the 2-DOF tail.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/3895]
专题	深圳先进技术研究院_集成所
作者单位	2012
推荐引用方式 GB/T 7714	Yuanyuan Liu,Xinyu Wu,Dezhen Song,et al. Path Planning for Clothes Climbing Robots on Deformable Clothes[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. 葡萄牙.

个性服务

查看访问统计

相关权益政策

暂无数据

收藏/分享

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。