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논문 상세정보

복잡한 지형에서 변형 가능한 6족 로봇의 구현

Implementation of a Transformable Hexapod Robot for Complex Terrains


This paper deals with the path creation for stable action of a robot and transformation by using the fuzzy algorithm. Also, the obstacle detection and environmental analysis are performed by a stereo vision device. The robot decides the range and the height using the fuzzy algorithm. Therefore the robot can be adapted in topography through a transformation by itself. In this paper, the robot is designed to have two advantages. One is the fast movability in flat topography with the use of wheels. The other is the moving capability in uneven ground by walking. It has six leg forms for a stable walk. The wheels are fixed on the legs of the robot, so that various driving is possible. The height and the width of robot can be changed variously using four joints of each leg. The wheeled joint has extra DOF for a rotation of vertical axis. So the robot is able to rotate through 360 degrees. The robot has various sensors for checking the own state. The stable action of a robot is achieved by using sensors. We verified the result of research through an experiment.

저자의 다른 논문

참고문헌 (14)

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  2. 2. Sawada, T., Takagi, T. and Fujita, M., 'Behavior Selection and Motion Modulation in Emotionally Grounded Architecture for QRIO SDR-4X II,' IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 2514-2519, 2004 
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  6. 6. Kawakami, A., Torii, A., Motomura, K. and Hirose, S., 'SMC Rover: Planetary Rover with transformable wheels,' Proceedings of the 41st SICE Annual Conference, Vol. 1, pp. 157-162, 2002 
  7. 7. Jia, Y., Li, M., An, L. and Zhang, X., 'Autonomous navigation of a miniature mobile robot using real-time trinocular stereo machine,' IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, Vol. 1, pp. 417-421, 2003 
  8. 8. Betke, M. and Gurvits, L., 'Mobile Robot Localization Using Landmarks,' IEEE Transactions on Robotics and Automation, Vol. 13, No 2, pp. 251-263, 1997 
  9. 9. Tsin, Y., Kang, S. B. and Szeliski, R., 'Stereo Matching with Linear Superposition of Layers,' IEEE Computer Society, Vol. 28, No. 2, pp. 290-301, 2006 
  10. 10. Svoboda, T. and Pajdla, T., 'Epipolar Geometry for Central Catadioptric Cameras,' International Journal of Computer Vision, Vol. 49, No. 1, pp. 23-37, 2002 
  11. 11. Lee, J. S., Ko, J. H. and Kim, E. S., 'Real-time stereo object tracking system by using block matching algorithm and optical binary phase extraction joint transform correlation,' Optics Communication, Vol. 191, Issues 3-6, pp. 191-202, 2001 
  12. 12. Kim, G. S., 'Recognition Method of Small-Obstacles using a Camera for a Mobile Robot,' Journal of Korean Society of Precision Engineering, Vol. 22, No. 9, pp. 85-92, 2005 
  13. 13. Leymarie, F. and Levine, M. D., 'Simulating the grassfire transform using an active contour model,' Pattern Analysis and Machine Intelligence, IEEE Transactions on, Vol. 14, Issue 1, pp. 56-75, 1992 
  14. 14. Kim, E. S. and Joo, K. S., 'Moving Path Following of Autonomous Mobile Robot using Fuzzy,' Journal of Korean Society of Precision Engineering, Vol. 17, No. 5, pp. 84-92, 2000 


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