JOURNAL BROWSE
Search
Advanced SearchSearch Tips
Obstacle Avoidance and Playing Soccer in a Quadruped Walking Robot
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Obstacle Avoidance and Playing Soccer in a Quadruped Walking Robot
Seo, Hyeon-Se; Sung, Young Whee;
  PDF(new window)
 Abstract
In this paper, we introduce an intelligent quadruped walking robot that can perform stable walking and a couple of intelligent behaviors. The developed robot has two sets of ultrasonic sensors and six sets of infrared sensors and can perform obstacle avoidance by detecting obstacles and estimating the distances and directions of those obstacles. The robot also has a stereo camera and can paly soccer by detecting a ball and estimating the 3 dimensional coordinates of the ball. In performing those intelligent behaviors, the robot needs to have the capability of generating its walking patterns, solving the inverse kinematics problem, and interfacing several sensors in realtime. Therefore we designed a hierarchical controller that consists of a main controller and an auxiliary controller. The main controller is a 32-bit DSP that can perform fast floating-point opertaion and the auxiliary one is a 8-bit micro-controller. We showed that the developed quadruped walking robot successfully perform those intelligent behaviors through experiments.
 Keywords
Quadruped robot;Robot controller;Obstacle avoidance;Robot soccer;
 Language
Korean
 Cited by
 References
1.
K. Inagaki, H. Kobayashi, "A Gait Transition for Quadruped Walking Machine,", Proceedings on the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.525-531, 1993.

2.
D.S. Kim, S.H. Park, K.H. Kim, Y.J. Lee, "Development of a bio-mimetic quadruped walking robot with waist joint," Proceedings on International Conference Control, Automation and Systems, pp. 1530-1534, 2004.

3.
이순걸, 조창현, 김병수, "틸팅을 이용한 4족 보행 로봇의 정적 보행 알고리즘," 제어자동화시스템공학 논문지, Vol. 7, No. 8, pp.675-679, 2001.

4.
서기성, 현수환, "관절 공간에서의 GP 기반 진화기법을 이용한 4족 보행로봇의 걸음새 자동생성," 제어로봇시스템공학 논문지, Vol. 14, No. 6, pp.573-579, 2008.

5.
이래경, 박수민, 김형철, 권용관, 강석희, 최병욱, "센서 퓨전을 통한 인공지능 4족 보행 애완용로봇," 제어자동화시스템공학 논문지, Vol. 11, No. 4, pp.314-321, 2005.

6.
유영국, 공정식, 김진걸, "복잡한 지형에서 변형 가능한 6족 로봇의 구현," 한국정밀공학회지, Vol. 25, No. 12, pp.65-74, 2008.

7.
이상무, 김상훈, "영상처리와 센서융합을 활용한 지능형 6족 이동 로봇," 제어로봇시스템학회 논문지, Vol. 15, No. 4, pp.365-371, 2009.

8.
문인석, 홍원기, 류정탁, "초음파 센서 기반 장애물 인지 이동 로봇 설계," 대한임베디드공학회논문지 Vol. 6, No. 5, pp.327-333, 2011.

9.
김정호, 권인소, "환경 변화에 강인한 비전 기반 로봇 자율 주행," 대한임베디드공학회논문지 Vol. 3, No. 2, pp.57-65, 2008.

10.
조동권, 정상봉, 성영휘, "네트워크 기반 로봇 축구 시스템," 대한임베디드공학회논문지 Vol. 4, No. 1, pp.9-15, 2009.

11.
로보티즈, website, Dynamixel e-매뉴얼, http://support.robotis.com/ko/product/dxl_main. htm0000

12.
성영휘, 서현세, "지능형 4족 보행 로봇에 관한 연구," 한국신호처리시스템학회 추계 학술대회논문집, pp.470-473, 2010.

13.
바램시스템, website, DRC black 매뉴얼, http://varram.com/

14.
김치승, 유제연, 염승훈, "스테레오 비전을 이용한 거리측정," 대한전기학회 하계학술대회 논문집, pp. 1843-1844, 2008.