Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2005.11.1.067

Sensor System Study for Intelligence Biped Walking Robot  

Kim You Shin ((주)유진로보틱스)
Hwang Gyu Deuk (한국해양대학교 기계정보공학부)
Choi Hyoung Sik (한국해양대학교 기계정보공학부)
Lee Chang Man (한국해양대학교 기계정보공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.1, 2005 , pp. 67-76 More about this Journal
Abstract
In this paper, An analysis on the intelligence system for a biped walking robot(BWR) was made and its results were applied to the BWR. Various sensors were applied to the developed BWR for autonomous and intelligent walk in unknown environments. To measure the distance between the object and BWR, ultrasonic sensor and infrared-rays sensor were used. To identity surrounding environments, vision system was used. Gyro sensor was used to control the posture of BWR. Also, piezoelectricity sensor was used to identity the pressure of foot landing on the surface. Sensors applied to the robot have measurement errors according to noises or walking environments. To improve the function of these sensors, influences of noise or sensing errors were minimized using a sensor fusion scheme. A gait test using the sensor fusion system was performed, and its results are presented.
Keywords
sensor; biped walking robot; intelligence;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 권영도, 이진수, '이동 로봇의 실시간 충돌회피', 한국자동제어학술회의 논문집, pp. 434-439,1993   과학기술학회마을
2 '신경회로망을 이용한 이동로봇의 이동 장애물 충돌회피', 한국자동제어학술회의 논문집. pp. 1238-1241, 1997
3 장도식, 이만희, 부창완, 'Line Scan Camera를 이용한 검사 시스템에서의 새로운 영상 처리 알고리즘', 제어 · 자동화 · 시스템공학 논문지, 제 3권, 제4호,pp.406-414, 1997   과학기술학회마을
4 K. Fujiwara, et aI, 'Development of guideless robot vehicle', Proc. 11th Int. Sysmp. On Industrial Robots, Oct. 1981, pp. 203-210
5 http://www.honda.co.jp/ASIMO/technology/
6 M. W. Spong, and M. Vidyasagar, 'Robot Dynamics and Control', John Wiiley & Sons, 1989
7 L. Kleeman and R. Kuc, 'Mobile robot sonar for target localization and classification', The International Journal of Robotics Research, vol. 14, no. 4, pp. 295-318, 1995   DOI   ScienceOn
8 R. C. Luo, M.-H. Lin, and R. S. Scherp, 'Dynamic multi-sensor data fusion system for intelligent robots', IEEE Journal of Robotics and Automation, vol. 4, no. 4, pp. 386-396, 1988   DOI   ScienceOn