최적 보행 동작 구현을 위한 시뮬레이션 기반 Jansen Mechanism 활용 보행 로봇 설계 및 구현

There are three types of robots that move on the ground classified as drivetrain. Wheels, tracks and Legs. Wheels and tracks are much easier to construct and control, but they have problems passing through obstacles like people. This paper discusses the design of line tracing using Theo Jansen, one of multi-legged walking mechanism. In order to increase the moving speed, the Jansen mechanism is designed by maximizing the objective variable as GL (Ground Length), GAC (Ground Angle Coefficient). In this project, only three sensors were attached and Arduino was used for optimal control of the motor using the sensor values.