Path planning for clothes climbing robots on deformable clothes surface Conference Paper uri icon

abstract

  • This paper proposes a novel path planning method for a robot to climb on the deformable clothes surface. Based on the deformable characteristic of the clothes, the tension force of clothes is analyzed and the model of tension degree is established. A clothes climbing robot called Clothbot is composed of a two-wheeled gripper and a 2 Degrees of Freedom (DOF) tail. Based on the locomotion of this robot, the weights of tension degree and the locomotion characteristic are added into the A* algorithm. Combined with the two weights applied, the optimal path to the target for the Clothbot is obtained. The Clothbot has been developed to evaluate the algorithm. The simulation and the experiments have verified the feasibility of this method. In addition, The error state of the movement of the robot which is called side tumbling has been corrected by the motion of the 2-DOF tail. © 2012 IEEE.

name of conference

  • 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)

published proceedings

  • 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

author list (cited authors)

  • Liu, Y., Wu, X., Song, D., Fu, R., Zheng, D., & Xu, Y

citation count

  • 2

complete list of authors

  • Liu, Yuanyuan||Wu, Xinyu||Song, Dezhen||Fu, Ruiqing||Zheng, Duan||Xu, Yangsheng

publication date

  • October 2012

publisher