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

Abstract

For biped pole-climbing robots (BiPCRs), footholds, indicating a sequence of discrete gripping points from the start to the goal, are necessary for travelling in trussed environments. Graspable region in each climbing cycle is the valuable priori knowledge for consideration of selecting specific grasping point. However, how to evaluate all the grasps within… (More)
DOI: 10.1109/ROBIO.2014.7090589

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