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http://dx.doi.org/10.5302/J.ICROS.2004.10.9.825

Implementation of an Intelligent Action of a Small Biped Robot  

Lim Seun ho (금오공과대학교 전자공학부)
Cho Jung san (금오공과대학교 전자공학부)
Yi Soo-Yeong (전북대학교 전자정보공학부)
Ahn Hee-Wook (금오공과대학교 전자공학부)
Sung Young Whee (금오공과대학교 전자공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.9, 2004 , pp. 825-832 More about this Journal
Abstract
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.
Keywords
biped robot; humanoid robot; intelligent action; localization; motion planning;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
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