{"data":{"id":"10.6084/m9.figshare.1203456","type":"dois","attributes":{"doi":"10.6084/m9.figshare.1203456","prefix":"10.6084","suffix":"m9.figshare.1203456","identifiers":[],"alternateIdentifiers":[],"creators":[{"name":"Zhu, Haifei","givenName":"Haifei","familyName":"Zhu","affiliation":[],"nameIdentifiers":[]},{"name":"Guan, Yisheng","givenName":"Yisheng","familyName":"Guan","affiliation":[],"nameIdentifiers":[]},{"name":"Wu, Wenqiang","givenName":"Wenqiang","familyName":"Wu","affiliation":[],"nameIdentifiers":[]},{"name":"Chen, Xin","givenName":"Xin","familyName":"Chen","affiliation":[],"nameIdentifiers":[]},{"name":"Zhou, Xuefeng","givenName":"Xuefeng","familyName":"Zhou","affiliation":[],"nameIdentifiers":[]},{"name":"Zhang, Hong","givenName":"Hong","familyName":"Zhang","affiliation":[],"nameIdentifiers":[]}],"titles":[{"title":"A binary approximating method for graspable region determination of biped climbing robots"}],"publisher":"Taylor \u0026 Francis","container":{},"publicationYear":2014,"subjects":[{"subject":"Mathematics"},{"subject":"FOS: Mathematics","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"Information and Computing Sciences"},{"subject":"Biological Sciences"},{"subject":"Immunology"},{"subject":"FOS: Clinical medicine","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"Chemistry"},{"subject":"Cell Biology"},{"subject":"Biochemistry"}],"contributors":[],"dates":[{"date":"2014-11-14","dateType":"Created"},{"date":"2023-05-31","dateType":"Updated"},{"date":"2014","dateType":"Issued"}],"language":null,"types":{"ris":"DATA","bibtex":"misc","citeproc":"dataset","schemaOrg":"Dataset","resourceType":"Dataset","resourceTypeGeneral":"Dataset"},"relatedIdentifiers":[{"relationType":"IsSupplementTo","relatedIdentifier":"10.1080/01691864.2014.959051","relatedIdentifierType":"DOI"}],"relatedItems":[],"sizes":["9798909 Bytes"],"formats":[],"version":null,"rightsList":[{"rights":"Creative Commons Attribution 4.0 International","rightsUri":"https://creativecommons.org/licenses/by/4.0/legalcode","schemeUri":"https://spdx.org/licenses/","rightsIdentifier":"cc-by-4.0","rightsIdentifierScheme":"SPDX"}],"descriptions":[{"description":"For a biped pole-climbing robot (BiPCR) with grippers, it is an essential demand to determine the target grasp configuration for climbing and transiting between poles, with the graspable region as a priori knowledge. The graspable region on the target pole is critically important for climbing path planning and motion control. To efficiently compute the graspable region for a BiPCR, we propose a novel binary approximating method in this paper. This method may also be applied to generate the three-dimensional (3-D) workspace of a manipulator with constant orientation. The grasping problem and the concept of graspable region for a BiPCR are first introduced. The binary approximating method and the corresponding algorithms are then presented to generate the graspable region. Additional constraints on a biped climbing robot with five degrees of freedom (DoFs) are presented as a supplement to the algorithm. A series of comprehensive simulations are conducted with the five-DoF and six-DoF climbing robots to verify the effectiveness of the proposed method. Finally, the dexterity of biped climbing robots with different DoFs is discussed.","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"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","url":"https://tandf.figshare.com/articles/dataset/A_binary_approximating_method_for_graspable_region_determination_of_biped_climbi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