Shady3D: A Robot that Climbs 3D Trusses

Yoon, Yeoreum; Rus, Daniela

doi:10.1109/robot.2007.364104

Cited by 78 publications

(40 citation statements)

References 10 publications

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“…None of these three robot is capable of general truss traversal, however. TREPA [9], a parallel robot; ROMA [10], a caterpillar-like robot; and Shady3D [11], a modular robot utilizing a passive member, are capable of traversing a wide variety of structures, but do not have the ability to effect structural assembly. Nechyba and Xu [12] developed a truss-walking inspection robot, SM 2 , for space station trusses.…”

Section: B Related Workmentioning

confidence: 99%

Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements

Yun

Hjelle

Schweikardt

et al. 2009

2009 IEEE International Conference on Robotics and Automation

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Abstract-In this paper we describe an optimal reconfiguration planning algorithm that morphs a grounded truss structure of known geometry into a new geometry. The plan consists of a sequence of paths to move truss elements to their new locations that generate the new truss geometry. The trusses are grounded and remain connected at all time. Intuitively, the algorithm grows gradually the new truss structure from the old one. The truss elements are rigid bars joined with 18-way connectors. The paper also introduces the design of a truss-climbing robot that can execute the plan.

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Section: B Related Workmentioning

confidence: 99%

Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements

Yun

Hjelle

Schweikardt

et al. 2009

2009 IEEE International Conference on Robotics and Automation

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“…Therefore, the transition issue must be handled well before looking into the climbing path planning problem. BiCR transit was qualitatively described in [2,27,28], but neither quantitative analysis nor executable output can be found in detail. In [29], a BiCR with five degrees of freedom (DoF) was proven capable of transiting between two cylindrical members at any relative orientation.…”

Section: Introductionmentioning

confidence: 99%

“…Otherwise, the robot may fail in attachment, and thereby fall down. This issue was well handled in [27] by defining a node with its position, direction, and face on a truss. Truss members were dispersed into a number of limited nodes, each representing a discrete gripping point (The term "gripping point" used in this paper consists of the position vector and the orientation matrix to locate a grip in 3D space.).…”

Section: Introductionmentioning

confidence: 99%

Transition Analysis and Its Application to Global Path Determination for a Biped Climbing Robot

Zhu

et al. 2018

Applied Sciences

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Biped climbing robots are considered good assistants and (or) substitutes for human workers carrying out high-rise truss-associated routine tasks. Flexible locomotion on three-dimensional complex trusses is a fundamental skill for these robots. In particular, the capability to transit from one structural member to another is paramount for switching objects to be climbed upon. In this paper, we study member-to-member transition and its utility in global path searching for biped climbing robots. To compute operational regions for transition, hierarchical inspection of safety, reachability, and accessibility of grips is taken into account. A novel global path rapid determination approach is subsequently proposed based on the transition analysis. This scheme is efficient for finding feasible routes with respect to the overall structural environment, which also benefits the subsequent grip and motion planning. Simulations are conducted with Climbot, our self-developed biped climbing robot, to verify the efficiency of the presented method. Results show that our proposed method is able to accurately determine the operational region for transition within tens of milliseconds and can obtain global paths within seconds in general.

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“…A modular climbing robot is presented in [12], whose number of DOF can be modified by adding new modules. Finally, [13] presents three-DOF robots that can individually explore trusses or can be combined with other robots to form more complex robots with higher manoeuvrability.…”

Section: Introductionmentioning

confidence: 99%

Inverse Kinematic Analysis of a Redundant Hybrid Climbing Robot

Peidró

Gil

Marı́n

et al. 2015

International Journal of Advanced Robotic Systems

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This paper presents the complete inverse kinematic analysis of a novel redundant truss-climbing robot with 10 degrees of freedom. The robot is bipedal and has a hybrid serial-parallel architecture, where each leg consists of two parallel mechanisms connected in series. By separating the equation for inverse kinematics into two parts -with each part associated with a different leg -an analytic solution to the inverse kinematics is derived. In the obtained solution, all the joint coordinates are calculated in terms of four or five decision variables (depending on the desired orientation) whose values can be freely decided due to the redundancy of the robot. Next, the constrained inverse kinematic problem is also solved, which consists of finding the values of the decision variables that yield a desired position and orientation satisfying the joint limits. Taking the joint limits into consideration, it is shown that all the feasible solutions that yield a given desired position and orientation can be represented as 2D and 3D sets in the space of the decision variables. These sets provide a compact and complete solution to the inverse kinematics, with applications for motion planning.

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Shady3D: A Robot that Climbs 3D Trusses

Cited by 78 publications

References 10 publications

Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements

Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements

Transition Analysis and Its Application to Global Path Determination for a Biped Climbing Robot

Inverse Kinematic Analysis of a Redundant Hybrid Climbing Robot

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