Browse > Article
http://dx.doi.org/10.5391/JKIIS.2010.20.4.509

Development of a Legged Walking Robot Based on Jansen Kinetics  

Kim, Sun-Wook (경남대학교대학원 첨단공학과)
Kim, Yeoun-Gyun (경남대학교대학원 첨단공학과)
Jung, Hah-Min (경남대학교대학원 첨단공학과)
Lee, Se-Han (경남대학교 기계자동화공학부)
Hwang, Seung-Gook (경남대학교 정보통신공학부)
Kim, Dong-Hun (경남대학교 전기공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.4, 2010 , pp. 509-515 More about this Journal
Abstract
In this paper, the mechanism that can walk efficiently in wet land or sand area is proposed. A vision camera is attached to the mechanism, which makes a kind of biologically inspired robot for coast guard. This visionary information enables the biologically inspired robot to react in peripheral environment by a soft-computing algorithm. In addition, the biologically inspired robot can achieve the mission appointed by a programmer connecting with outside, based on RF and Blue-tooth communication module. Therefore, the purpose of this research is the implementation of the biologically inspired robot that can operate most adaptively in sand and wet surface based on Theo Jansen mechanism.
Keywords
Intelligent Robot; Biologically-inspired Robot; Crab Robot; Theo Jansen;
Citations & Related Records
연도 인용수 순위
  • Reference
1 R. E. Ritzmann, R. D. Quinn, J. T. Watson, & S. N. Zill, Insect walking and biorobotics: a relationship with mutual benefits. Bioscience 50, pp. 23-33, 2000.   DOI
2 J. G. Cham, J. K. Karpick & M. R. Cutkosky, Stride period adaptation of a biomimetic running hexapod. International Journal of Robotics Research 23, pp. 141-153, 2004.   DOI
3 R. Dillmann, J. Albiez, B. Gassmann, T. Kerscher & M. Zoellner, Biologically inspired walking machines: design, control and perception. Philosophical Transactions of the Royal Society A-Mathematical Physical and Engineering Sciences 365, pp. 133-151, 2007.   DOI
4 J. Ayers & J. Witting, Biomimetic approaches to the control of underwater walking machines. Philosophical Transactions of the Royal Society A-Mathematical Physical and Engineering Sciences 365, pp. 273-295, 2007.   DOI
5 http://www.strandbeest.com/film.html
6 A. J. Ingram, A new type of mechanical walking machine, Dissertation submitted to the faculty of engineering in University of Johannesburg, 2006.
7 J. Ayers & J. Witting, Biomimetic approaches to the control of underwater walking machines. Philosophical Transactions of the Royal Society A-Mathematical Physical and Engineering Sciences 365, pp. 273-295, 2007.   DOI
8 M. A. Raibert, Special Issue on Legged Locomotion - Foreword. International Journal of Robotics Research 9, pp. 2-3, 1990.   DOI
9 R. D. Beer, R.D. Quinn, H.J. Chiel & R. Ritzmann, Biologically inspired approaches to robotics. Communications of the ACM 40, pp. 31-38, 1997.