Single-step collision-free trajectory planning of biped climbing robots in spatial trusses
نویسندگان
چکیده
منابع مشابه
Single-step collision-free trajectory planning of biped climbing robots in spatial trusses.
For a biped climbing robot with dual grippers to climb poles, trusses or trees, feasible collision-free climbing motion is inevitable and essential. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan single-step collision-free motion for biped climbing robots in spatial trusses. To deal with the orientation limit of a 5-DoF biped climbing robot, a new state representation a...
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ژورنال
عنوان ژورنال: Robotics and Biomimetics
سال: 2016
ISSN: 2197-3768
DOI: 10.1186/s40638-016-0033-3