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- W4317383757 abstract "It is important and challenging for biped wall-climbing robots to plan the plane-transition locations which satisfy the positional and kinematic constraints in a complex 3D environment. In this paper, we propose a plane-transition location optimization model and a projection-based plane-transition location planner to optimize the plane-transition locations. The core idea behind is that point-to-point projection generates the approximately shortest surface path because of its straight-line properties. Therefore, there are a series of project line segments that are translated on the wall. To deal with the positional and kinematic constraints of the absorption points, the plane-transition locations were transformed into the intersection points of the project translation line segment and the common vertical plane formed by two neighboring via walls. The simulation results with W-Climbot show that the proposed algorithm can efficiently and robustly plan the plane-transition locations of biped wall-climbing robots. It has a solving success rate of 98%. In the cases where the number of via walls is less than 10, the proposed algorithm solved the problem within 0.5s, which is significantly lower than particle swarm optimization(PSO). And the minimum climbing steps obtained are also significantly lower than PSO." @default.
- W4317383757 created "2023-01-19" @default.
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- W4317383757 date "2022-12-05" @default.
- W4317383757 modified "2023-10-18" @default.
- W4317383757 title "Global Optimization of Plane-transition Locations in Biped Wall-climbing Robots" @default.
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- W4317383757 doi "https://doi.org/10.1109/robio55434.2022.10012010" @default.
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