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Design of Trajectory Generator of a Glass Façade Cleaning Robot

The purpose of this paper is to design a trajectory generator for a bipedal wall cleaning robot that can not only move but also clean. To realize a bipedal robot system for cleaning glass walls, the walking and cleaning capabilities of the robot are verified. For this purpose, a case study is set up. To achieve the case study, two performances are required: walking and cleaning. This paper focuses on the control system to achieve the case study and construct an algorithm for trajectory generation. The key point for the algorithm construction is to accomplish both tasks of walking and cleaning with one main algorithm. For this purpose, the case study and robot configurations are qualitatively discussed and generalized. A feature of the algorithm is that it alternates between walking and cleaning. The robot used is a bipedal robot with a cleaning tool mounted on its right foot, and it cleans while walking. The algorithm to be constructed consists of five sub-algorithms: target position determiner, minimum stride determiner, stride width optimizer, foot position generator, and gait generator. Each sub-algorithm is constructed and then integrated into one main algorithm. The effectiveness of the integrated algorithm is verified through numerical simulations. The results confirm that the constructed algorithm can generate the suitable robot trajectory to accomplish the case study.