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The Implementation of Remote Control for a Quadruped Robot  

공정식 (인하대학교 자동화공학과)
이인구 (세명대학교 전기전자대학원)
이보희 (세명대학교 전기공학과)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.6, no.2, 2002 , pp. 300-308 More about this Journal
Abstract
This paper deals with the remote control of a quadruped robot by using network concept. In case we have to work out the designed plan under the irregular terrains and have the human friendly actions,. our robot will be required to have walking capability, and patterns with legs, which are designed like gaits of insert, dog and human. Our quadruped robot(called SERO) has not only the basic actions operated with sensors and actuators but also the various advanced walking trajectories, which are generated by Genetic Algorithm In addition, it has the remote controller in order to operate the remote actions such as generation of command via web browser and monitoring the robot status. In this paper the body and the controller structures are suggested and the results of kinematics analysis are also presented, All of the suggested motions of SERO are generated by PC simulation and implemented in real environment successfully.
Keywords
quadruped robot; genetic algorithm; trajectory; human friendly actions; remote control;
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