Jansen Mechanism을 기반으로 한 보행로봇의 최적화와 Line tracer

Based on the Jansen mechanism theory, a walking robot is developed, which is able to trace a line. In order to find the optimized legs, GL(Ground Length), GAC(Ground Angle Coefficient) and Grashof criteria are utilized in m.sketch program as well as EdisonDesign program. Many types of design are applied to sensors and controls, and the functionality is checked. Finally, a prototype line tracer robot is manufactured using aduino parts and smart boards. The prototype robot is test run to check the validity of the design, and modifications are applied to improve the performance according to each test result until the best design is achieved.