Path Planning for Clothes Climbing Robots on Deformable Clothes
文献类型：会议论文
| 作者 | Yuanyuan Liu; Xinyu Wu; Dezhen Song; Ruiqing Fu; Duan Zheng; Yangsheng Xu |
| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：深圳先进技术研究院
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