한국지능시스템학회논문지 (Journal of the Korean Institute of Intelligent Systems)

  • 제24권3호
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  • Pages.304-309
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  • 2014
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  • 1976-9172(pISSN)
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  • 2288-2324(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
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허리 구조를 갖는 복합 바퀴-다리 이동형 로봇의 설계

Design of Hybrid Wheeled and Legged Mobile Robot with a Waist Joint

  • 최대규 (한경대학교 전기전자제어공학과) ;
  • 정동혁 (한경대학교 전기전자제어공학과) ;
  • 김용태 (한경대학교 전기전자제어공학과)
  • Choi, Dae-Gyu (Dept. of Electrical, Electronic and Control Engineering, Hankyong National University) ;
  • Jeong, Dong-Hyuk (Dept. of Electrical, Electronic and Control Engineering, Hankyong National University) ;
  • Kim, Yong-Tae (Dept. of Electrical, Electronic and Control Engineering, Hankyong National University)
  • 투고 : 2013.09.01
  • 심사 : 2014.06.09
  • 발행 : 2014.06.25
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초록

본 논문에서는 허리 구조를 갖는 복합 바퀴-다리 이동형 로봇의 설계 방법을 제안한다. 제안된 복합 이동형 로봇은 비평탄 및 평탄 지형에서의 효과적인 이동을 위하여 로봇의 다리에 바퀴가 결합된 복합 바퀴-다리 구조와 로봇 주행 중 보행 자세로의 안정적인 전환과 비평탄 지형에서 기구적인 제한의 개선을 위하여 허리 관절을 갖는 구조로 설계하였다. 또한 다양한 지형을 인지하기 위하여 LRF센서, PSD센서, CCD 카메라를 사용하였다. 제안한 로봇 시스템의 검증을 위해 지형별 주행과 보행 자세를 선택할 수 있는 운동 계획 기법을 제안하였다. 실제 복합 바퀴-다리 이동형 로봇을 설계 및 제작하고, 제안된 운동계획을 사용한 실험을 통해 지형에 따른 효율적인 이동 성능을 검증하였다.

In this paper, we design a hybrid wheeled and legged mobile robot with a waist joint. The proposed hybrid mobile robot is designed to have a hybrid structure with leg and wheel for the efficient movement in flat and uneven surfaces. The proposed robot have a waist joint that is used to stably transform from wheeled driving to legged walking of the robot and to overcome non-flat surface. In order to recognize various environments we use LRF sensor, PSD sensor, CCD camera. Also, a motion planning method for hybrid mobile robot with a waist joint is proposed to select wheeled driving motion and legged walking motion of the robot based the environment types. We verify the efficient mobility of the developed hybrid mobile robot through navigation experiments using the proposed motion planning method in various environments.

키워드

참고문헌

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피인용 문헌

  1. A Study on Task Planning and Design of Modular Quadruped Robot with Docking Capability vol.26, pp.3, 2016, https://doi.org/10.5391/JKIIS.2016.26.3.169