Title :
A surveillance robot with hopping capabilities for home security
Author :
Song, Guangming ; Yin, Kaijian ; Zhou, Yaoxin ; Cheng, Xiuzhen
Author_Institution :
Sch. of Instrum. Sci. & Eng., Southeast Univ., Nanjing, China
fDate :
11/1/2009 12:00:00 AM
Abstract :
Most traditional home robots have always had problems with stairs, doorsills and other obstacles that humans cross with ease in cluttered indoor environments. This paper presents the development and characterization of a surveillance robot with hopping capabilities for home security. The proposed robot, which is 9 cm in height and 250 g in weight, can leap over obstacles more than 4 times its own size. It depends on the elastic elements in a six-bar linkage leg system to enable hopping locomotion. It can also roll freely on flat floors and change its directions by the two-wheeled differential drive system. It adopts the ZigBee protocol for wireless communication and therefore can be added to a ZigBee-based home control network as a mobile video sensor node. Experimental results verify that the prototype robot is a powerful home security device that can patrol in cluttered home environments with ease.
Keywords :
control engineering computing; home computing; legged locomotion; mobile communication; security; surveillance; ZigBee protocol; ZigBee-based home control network; home robots; home security; hopping locomotion; mass 250 g; mobile video sensor; six-bar linkage leg system; size 9 cm; surveillance robot; two-wheeled differential drive system; wireless communication; Couplings; Humans; Indoor environments; Leg; Robots; Security; Surveillance; Wireless application protocol; Wireless communication; ZigBee; Home security, home robot, surveillance robot, hopping locomotion.;
Journal_Title :
Consumer Electronics, IEEE Transactions on
DOI :
10.1109/TCE.2009.5373766
