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http://dx.doi.org/10.5391/JKIIS.2015.25.3.236

Study on the Transformable Quadruped Robot with Docking Module  

Kim, Young-Min (Department of Electrical, Electronic and Control Engineering, Hankyong National University)
Kim, Yong-Tae (Department of Electrical, Electronic and Control Engineering, Hankyong National University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.25, no.3, 2015 , pp. 236-241 More about this Journal
Abstract
This paper presents a study on transformable multiple quadruped robots by docking between robots and waist joints. This robot is able to go on a variety of angles because of mecanum wheels. It is also a hybrid design which allows robot use legs to overcome obstacles on complex terrains and wheels to move on flat ground. The robot is applied kinematics of mecanum wheels and walking, and its walking is based on specific patterns. Docking module is located in front and backside of robot, docking algorithm is suggested and fulfilled for docking between 2 robots. A waist joint is at the center of robot body for transformation and after docking and transformation, robot can activate new functions that carry something.
Keywords
Quadruped Robot; Docking Mechanism; Transformable Robot; Collaboration;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
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