대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2009년도 제40회 하계학술대회
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- Pages.2251_2252
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- 2009
자동차 로봇의 휠 배치 가변 구조 연구
Variable Wheel Position Mechanism with Full Mobility for a Car-Like Robot
- Kim, Sun-Wook (Kyungnam University) ;
- Jung, Hah-Min (Kyungnam University) ;
- Kim, Hong-Pil (Kyungil University) ;
- Lee, Se-Han (Kyungnam University) ;
- Kim, Dong-Hun (Kyungnam University)
- 발행 : 2009.07.14
초록
In this paper, an attempt has been made by incorporating variable wheel arrangement for a car-like robot. In this scheme, the car-like robot controls its body height and the length of forward and backward wheels while driving in omni-direction. Experimental results show that the proposed car-like robot with wheel arrangement variable structure presents effectiveness of several situations.(a. left and right turn, b. longitudinal and latitudinal parking, c. control of body height and the length of forward and backward wheels, d. passing over obstacles, e. adaptive cruise control.)
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