얀센 메커니즘 기반의 라인트레이싱 로봇 설계

The Theo Jansen mechanism using 1 degree of freedom is special system of walking robot. The trajectory made by the point of ground position is similar to other walking robot using many degrees of freedom. Because of diversity of design parameter of the Jansen mechanism, it makes a lot of trajectory and takes possibilities of optimization. However this research doesn't focus on the optimization of trajectory, but it focused on comprehensive design of the robot using well-known trajectory and line tracer logic to go fast and accurate along the line. The logic to follow a line has many kinds of possibility of algorithm. To eliminate uncertainty about recognizing a line, I divide the case of line following situation and make optimized logic.