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Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot

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

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:

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