Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot Articles uri icon

publication date

  • December 2011

start page

  • 1132

end page

  • 1137

issue

  • 6

volume

  • 27

International Standard Serial Number (ISSN)

  • 1552-3098

Electronic International Standard Serial Number (EISSN)

  • 1941-0468

abstract

  • 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.

keywords

  • animation and simulation; assistive robotics; kinematics; personal robots; task-oriented design (tod)