Planificación jerárquica de movimientos de un robot trepador bípedo en estructuras tridimensionales reticulares
[EN] Climbing robots must be capable of autonomously navigating three-dimensional truss-like structures to prevent human operators from being exposed to significant physical risks when performing maintenance tasks in such environments. To provide them with this capability, this article introduces a...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2024 |
| País: | España |
| Institución: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | español |
| OAI Identifier: | oai:riunet.upv.es:10251/205962 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/205962 |
| Access Level: | acceso abierto |
| Palabra clave: | Path planning Climbing robots Redundant robots Truss structures Workspace Planificación de trayectorias Robots trepadores Robots redundantes Estructuras reticulares Espacio de trabajo |
| Sumario: | [EN] Climbing robots must be capable of autonomously navigating three-dimensional truss-like structures to prevent human operators from being exposed to significant physical risks when performing maintenance tasks in such environments. To provide them with this capability, this article introduces a hierarchical motion planning algorithm for biped climbing robots. Unlike other conventional techniques, our algorithm decomposes the global three-dimensional problem into multiple sub-problems, each one dedicated to managing specific aspects of the process of generating the sequence of footholds. Initially, the global route is planned, which includes the sequence of faces to be traversed to reach the designated point, identifying which transition points will be used for changing from one face to another in the sequence. Subsequently, the path that the robot must follow along each of the faces comprising the global route is calculated. For the validation of the presented method, video and images taken in a simulation environment are included. |
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