제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제10권9호
  • /
  • Pages.825-832
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  • 2004
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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소형 2족 보행 로봇의 지능형 동작의 구현

Implementation of an Intelligent Action of a Small Biped Robot

  • 임선호 (금오공과대학교 전자공학부) ;
  • 조정산 (금오공과대학교 전자공학부) ;
  • 이수영 (전북대학교 전자정보공학부) ;
  • 안희욱 (금오공과대학교 전자공학부) ;
  • 성영휘 (금오공과대학교 전자공학부)
  • 발행 : 2004.09.01
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초록

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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참고문헌

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