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http://dx.doi.org/10.5391/JKIIS.2011.21.6.692

A Study on Hybrid Wheeled and Legged Mobile Robot with Docking Mechanism  

Lee, Bo-Hoon (한경대학교 정보제어공학과, IT융합기술연구소)
Lee, Chang-Seok (한경대학교 정보제어공학과, IT융합기술연구소)
Kim, Yong-Tae (한경대학교 바이오.정보기술대학원)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.21, no.6, 2011 , pp. 692-697 More about this Journal
Abstract
There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid mobile robot that can dock with the other robot and transforms between wheeled robot and legged robot is proposed. The hybrid mobile robot platform has docking device with a peg and a cup module. In addition, the robot is possible to walk and drive according to condition of the road. A navigation algorithm of the hybrid mobile robot is proposed to improve the mobility of robots using docking algorithm based on image processing on the broken road and uneven terrain. The proposed method recognizes road condition through PSD sensor attached in front and bottom of the robot and selects an appropriate navigation method according to terrain surface. The proposed docking and navigation methods are verified through experiments using hybrid mobile robots.
Keywords
Docking control; Hybrid mobile robot; Navigation control; Walking control;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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