{"data":{"id":"10.6084/m9.figshare.c.2009486.v1","type":"dois","attributes":{"doi":"10.6084/m9.figshare.c.2009486.v1","prefix":"10.6084","suffix":"m9.figshare.c.2009486.v1","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":2015,"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":"2015-12-05","dateType":"Created"},{"date":"2019-08-19","dateType":"Updated"},{"date":"2015","dateType":"Issued"}],"language":null,"types":{"ris":"GEN","bibtex":"misc","citeproc":"article","schemaOrg":"Collection","resourceType":"Collection","resourceTypeGeneral":"Collection"},"relatedIdentifiers":[{"relationType":"IsIdenticalTo","relatedIdentifier":"10.6084/m9.figshare.c.2009486","relatedIdentifierType":"DOI"}],"relatedItems":[],"sizes":[],"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/collections/A_binary_approximating_method_for_graspable_region_determination_of_biped_climbing_robots/2009486/1","contentUrl":null,"metadataVersion":2,"s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