4족 보행 로봇의 장애물 회피와 축구하기Obstacle Avoidance and Playing Soccer in a Quadruped Walking Robot
- Other Titles
- Obstacle Avoidance and Playing Soccer in a Quadruped Walking Robot
- Authors
- 서현세; 성영휘
- Issue Date
- 2012
- Publisher
- 대한임베디드공학회
- Keywords
- Quadruped robot; Robot controller; Obstacle avoidance; Robot soccer
- Citation
- 대한임베디드공학회논문지, v.7, no.3, pp.143 - 150
- Journal Title
- 대한임베디드공학회논문지
- Volume
- 7
- Number
- 3
- Start Page
- 143
- End Page
- 150
- URI
- https://scholarworks.bwise.kr/kumoh/handle/2020.sw.kumoh/2672
- ISSN
- 1975-5066
- 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.
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