Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Study on the Transformable Quadruped Robot with Docking Module

변형과 결합 가능한 4족 로봇에 대한 연구

  • 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)
  • 김영민 (국립 한경대학교 전기전자제어공학과) ;
  • 김용태 (국립 한경대학교 전기전자제어공학과)
  • Received : 2015.03.22
  • Accepted : 2015.06.01
  • Published : 2015.06.25
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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.

본 논문에서는 로봇 간의 결합과 허리 관절을 이용하여 변형 가능한 다 개체 4족 로봇 플랫폼을 제안하였다. 메카넘 휠을 적용하여 다양한 각도로 주행이 가능하고, 주행으로는 이동할 수 없는 환경을 극복하기 위해 보행도 가능한 복합 이동형 로봇으로 설계하였다. 주행 및 보행을 구현하기 위해 2가지의 기구학을 사용하였으며, 보행은 일정한 패턴을 생성하여 구현하였다. 로봇의 전면부와 후면부에는 결합 모듈을 장착하였고, 두 로봇 간의 결합을 위해 결합 알고리즘을 제시하고 실험하였다. 변형을 위해 로봇의 몸 중간에 허리 관절을 적용하였고, 허리 관절을 이용한 변형을 통해 물건을 옮길 수 있는 새로운 기능을 구현하였다.

Keywords

References

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Cited by

  1. A Study on Task Planning and Design of Modular Quadruped Robot with Docking Capability vol.26, pp.3, 2016, https://doi.org/10.5391/JKIIS.2016.26.3.169