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Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot

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4 Author(s)
Jardon, A. ; Dept. of Syst. Enginnering & Autom, Univ. Carlos III de Madrid, Leganes, Spain ; Stoelen, M.F. ; Bonsignorio, F. ; Balaguer, C.

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.

Published in:

Robotics, IEEE Transactions on  (Volume:27 ,  Issue: 6 )

Date of Publication:

Dec. 2011

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