Publication:
Task-oriented kinematic design of a symmetric assistive climbing robot

Thumbnail Image
Identifiers
URI: https://hdl.handle.net/10016/18727
ISSN: 1552-3098
DOI: 10.1109/TRO.2011.2160668
UXXI: AR/0000009584
Files
task_ITR_2011_ps.pdf (709 KB)
Publication date
2011-12
Defense date
Authors
Advisors
Tutors
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE
Impact
Google Scholar
Export
Research Projects
Organizational Units
Journal Issue
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.
Description
Keywords
Animation and simulation, Assistive robotics, Kinematics, Personal robots, Task-oriented design (TOD)
Bibliographic citation
IEEE Transactions on Robotics, December 2011, Vol. 27, N. 6, pp. 1132-1137
Collections
DISA - LR - Artículos de Revistas