Title :
Operating a six-legged outdoor patrol robot
Author :
Lee, Jihong ; Shim, Hyungwon ; Oh, Sang-Jin ; Hong, Jimi ; Jo, KyoungHwan ; Kwon, Hyokjo ; Kim, JungBae
Author_Institution :
Chungnam Nat. Univ., Daejeon
Abstract :
In this paper we present the mechanical/electrical design of half-sized outdoor patrol robot CALEB I. The robots are designed to be operated by both remote control mode and autonomous mode. To patrol around buildings efficiently and safely, we implemented navigation algorithms based on GPS and odometer, and obstacle avoidance and traversal as well as posture stabilization. The robot offers autonomous surveillance for outdoor environments, which is proved by a set of experiments in outdoor environment.
Keywords :
legged locomotion; navigation; surveillance; telerobotics; CALEB I; autonomous robot; autonomous surveillance; mechanical/electrical robot design; remote control mode operation; robot navigation algorithm; six-legged outdoor patrol robot; Arm; Control systems; Intelligent robots; Leg; Legged locomotion; Mobile robots; Robot sensing systems; Robotics and automation; Surveillance; Wheels; active suspension; autonomous navigation; obstacle traversal; patrol robot; six - legged robot;
Conference_Titel :
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-6-2
Electronic_ISBN :
978-89-950038-6-2
DOI :
10.1109/ICCAS.2007.4407050
