TY - GEN
T1 - Motion planning algorithm for a mobile robot suspended by seven cables
AU - Capua, A.
AU - Shapiro, A.
AU - Shoval, S.
PY - 2010
Y1 - 2010
N2 - In this paper we present a motion planning algorithm for a mobile robot, suspended by seven cables. We formulate the motion planning algorithm as a convex optimization problem. We analyze the robots' statics and kinematics in order to implement them into the motion planning. The robot consists of cable mechanisms and a central body. Each cable mechanism includes a thin cable with a simple gripper at the end, and a dispensing and rolling mechanism. The robot dispenses the cables towards possible grasping points in the surroundings, and then pulls the cables simultaneously in a coordinated manner. Depending on the geometry of the grasping points and the coordinated pulling, the robot can perform stable motion over curved surfaces or around and over obstacles. Simulations results are presented as well as experiments which are conducted on a novel underconstrained four cable suspended mobile robot.
AB - In this paper we present a motion planning algorithm for a mobile robot, suspended by seven cables. We formulate the motion planning algorithm as a convex optimization problem. We analyze the robots' statics and kinematics in order to implement them into the motion planning. The robot consists of cable mechanisms and a central body. Each cable mechanism includes a thin cable with a simple gripper at the end, and a dispensing and rolling mechanism. The robot dispenses the cables towards possible grasping points in the surroundings, and then pulls the cables simultaneously in a coordinated manner. Depending on the geometry of the grasping points and the coordinated pulling, the robot can perform stable motion over curved surfaces or around and over obstacles. Simulations results are presented as well as experiments which are conducted on a novel underconstrained four cable suspended mobile robot.
KW - Cable suspended robot
KW - SpiderBot
KW - Underconstrained cable suspended robot
UR - https://www.scopus.com/pages/publications/77955679397
U2 - 10.1109/RAMECH.2010.5513143
DO - 10.1109/RAMECH.2010.5513143
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AN - SCOPUS:77955679397
SN - 9781424465033
T3 - 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010
SP - 504
EP - 509
BT - 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010
T2 - 2010 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2010
Y2 - 28 June 2010 through 30 June 2010
ER -