Jardón Huete, AlbertoStoelen, Martín FodstadBonsignorio, FabioBalaguer Bernaldo de Quirós, Carlos2014-04-042014-04-042011-12IEEE Transactions on Robotics, December 2011, Vol. 27, N. 6, pp. 1132-11371552-3098https://hdl.handle.net/10016/18727ASIBOT 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.5application/pdfengAnimation and simulationAssistive roboticsKinematicsPersonal robotsTask-oriented design (TOD)research articleRobótica e Informática Industrial10.1109/TRO.2011.2160668open access113261137IEEE Transactions on Robotics27AR/0000009584