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소형 2족 보행 로봇의 지능형 동작의 구현Implementation of an Intelligent Action of a Small Biped Robot
- Other Titles
- Implementation of an Intelligent Action of a Small Biped Robot
- Issue Date
- 2004
- Publisher
- 제어·로봇·시스템학회
- Keywords
- biped robot; humanoid robot; intelligent action; localization; motion planning; biped robot; humanoid robot; intelligent action; localization; motion planning
- Citation
- 제어.로봇.시스템학회 논문지, v.10, no.9, pp.825 - 832
- Journal Title
- 제어.로봇.시스템학회 논문지
- Volume
- 10
- Number
- 9
- Start Page
- 825
- End Page
- 832
- ISSN
- 1976-5622
- Abstract
- A small biped robot system is designed and implemented. The robot system consists of a mechanical robot body, a control system, a sensor system, and a user interface system. The robot has 12 dofs for two legs, 6 dofs for two arms, 2 dofs for a neck, so it has total 20 dofs to have dexterous motion capability. The implemented robot has the capability of performing intelligent actions such as playing soccer, resisting external forces, and walking on a slope terrain. In this paper, we focus on the robot's capability of playing soccer. The robot uses a color CCD camera attached on its head as a sensor for playing soccer. To make the robot play soccer with only one camera, an algorithm, which consists of searching, localization, and motion planning, is proposed and experimented. The results show that the robot can play soccer successfully in the given environments.
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Related Researcher
- SUNG, YOUNG WHEE
- College of Engineering (School of Electronic Engineering)