Evaluation of graspable region and selection of footholds for biped pole-climbing robots

Zhu, Haifei; Guan, Yisheng; Su, Manjia; Cai, Chuanwu; Low, Kin Huat; Zhang, Hong

doi:10.1109/robio.2014.7090589

Cited by 6 publications

(6 citation statements)

References 10 publications

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“…Aerial work to climb poles, [1][2][3][4][5] trees, 6,7 or trusses [8][9][10] can result in worker injuries 11,12 due to human kinematic and spatial limitations. Pole-climbing robots are therefore increasingly wanted to carry out high-risk tasks for human beings.…”

Section: Introductionmentioning

confidence: 99%

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Design of a micro pole-climbing robot

Sinan

2019

International Journal of Advanced Robotic Systems

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Pole-climbing robots are increasingly needed to carry out high-risk tasks for human beings. A micro pole-climbing robot is designed in this article. A strategy of climbing pole is proposed, which has high precision in each stride. To enable the robot to sample the angle relative to the ground in real time, micro electro mechanical systems (MEMS) three-axis accelerometers are equipped on micro pole-climbing robot. Accelerometer measurements provide an absolute reference for the pitch-and-roll components of the estimated orientation, which are used as feedback input signal of proportionalintegral-derivative algorithm. A supporting structure is installed at the joint of each gripper to assist the robot to clamp a pole. The support structure improves the load capacity of the robot. The maximum load of micro pole-climbing robot is 3.5 times its own weight. The climbing pole strategy includes the following sections: a Denavit-Hartenberg model is established and the inverse kinematic solution is analyzed; the flip locomotion is analyzed; and the parameters of K P , K I , and K D in the proportional-integral-derivative control method are obtained according to the Ziegler-Nichols controller. The performance of pole climbing based on micro pole-climbing robot prototype was tested. By using this strategy of climbing pole, the self-continuous climbing with controllable stride is realized, and the angular velocity fluctuation of the five-bar mechanism driven by steering gear is reduced. The average time of a single step is 27 s, the maximum relative error of step distance is 4.6%, and the average relative error is 2.8%. These results confirm that the structure scheme and the strategy of climbing pole are feasible.

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Section: Introductionmentioning

confidence: 99%

“…There are many studies about pole-climbing robots with significant achievements. [1][2][3][4][5][6][7][8][9][10][13][14][15][16][17][18][19][20][21][22][23][24] Autonomous climbing is a necessity for these robots as the operators may not see the next target to be grasped by the robots all the times.…”

Section: Introductionmentioning

confidence: 99%

Design of a micro pole-climbing robot

Sinan

2019

International Journal of Advanced Robotic Systems

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“…It can only obtain a near-optimal solution. Zhu et al [26] presented two optimal strategies to select a collision-free grip from its potential region based on three criteria step by step. However, this method lacks global guidance in searching, and hence, is inefficient most of the time.…”

Section: Introductionmentioning

confidence: 99%

Optimal Collision-Free Grip Planning for Biped Climbing Robots in Complex Truss Environment

Zhu

et al. 2018

Applied Sciences

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Biped climbing robots (BiCRs) can overcome obstacles and perform transition easily thanks to their superior flexibility. However, to move in a complex truss environment, grips from the original point to the destination, as a sequence of anchor points along the route, are indispensable. In this paper, a grip planning method is presented for BiCRs generating optimal collision-free grip sequences, as a continuation of our previous work on global path planning. A mathematic model is firstly built up for computing the operational regions for negotiating obstacle members. Then a grip optimization model is proposed to determine the grips within each operational region for transition or for obstacle negotiation. This model ensures the total number of required climbing steps is minimized and the transition grips are with good manipulability. Lastly, the entire grip sequence satisfying the robot kinematic constraint is generated by a gait interpreter. Simulations are conducted with our self-developed biped climbing robot (Climbot), to verify the effectiveness and efficiency of the proposed methodology.

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“…In the field of robot obstacle avoidance, the mainly applied domestic and overseas research methods include DLS method [7] , SICQP method [8] , normal form method [9] , etc. [10][11][12] . However, it is difficult to solve the contradictions between algorithm complexity and precision of end tracking existing in these methods.…”

Section: Introductionmentioning

confidence: 99%

A New Path Planning Method of Obstacle and Singularity Avoidance for Redundant Robot

Liu¹,

Dai²

2017

dtetr

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This thesis proposes a path planning method of obstacle and singularity avoidance with synergistic effect for redundant robot. By analyzing robot configuration, it proposes an improved method to calculate real-time minimum distance. At first, it screens out the connecting rod which might collide. Then, it calculates the distance by coordinate variation method and took the minimum value. At last, it obtains the real-time minimum distance. By introducing two obstacle avoidance parameters related to the real-time minimum distance, this thesis uses the self-motion of redundant kinematic chain in null space to complete obstacle avoidance. Also, it applies DLS method to complete singularity avoidance optimization to the obstacle avoidance algorithm. It solves the problem of excessive joint velocity close to singularity configuration. In the end, this thesis verifies the effectiveness of the algorithm by conducting simulation experiment on a plane 3R redundant robot.

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Evaluation of graspable region and selection of footholds for biped pole-climbing robots

Cited by 6 publications

References 10 publications

Design of a micro pole-climbing robot

Design of a micro pole-climbing robot

Optimal Collision-Free Grip Planning for Biped Climbing Robots in Complex Truss Environment

A New Path Planning Method of Obstacle and Singularity Avoidance for Redundant Robot

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