Implementation of Transformation Algorithm for a Leg-wheel Hexapod Robot Using Stereo Vision

스테레오 영상처리를 이용한 바퀴달린 6족 로봇의 형태변형 알고리즘 구현

In this paper, the detection scheme of the spatial coordinates based on stereo camera for a Transformation algorithm of an Leg-wheel Hexapod Robot is proposed. Robot designed as can have advantages that do transfer possibility fast mobility in flat topography and uneven topography through walk that use wheel drive. In the proposed system, using the disparity data obtained from the left and right images captured by the stereo camera system and the perspective transformation between a 3-D scene and an image plane, depth information can be detected. Robot uses construed environmental data and transformation algorithm, decide wheel drive and leg waik, and can calculate width of street and regulate width of robot.