Title :
A semiautonomous sprawl robot based on remote wireless control
Author :
Li, HongKai ; Dai, ZhenDong
Author_Institution :
Inst. of Bio-inspired Struct. & Surface Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China
Abstract :
Mobile robots with remote control ability have great value in industry and security-monitoring field. Legged robot is preferred for mobile robot in virtual of its environment adaptability, locomotive robustness; moreover, bionic models could be easily found in the nature. In this paper, a semiautonomous sprawl legged robot with wireless remote control was developed. Mechanism was designed based on the motion mechanism of gecko. A remote control system based on CDMA 1x was realized to take charge of transmitting video image and motion order between robot and the client software. Motion control system, make up of one master and four slave controllers, was designed to control the motion of robot. Experiments showed that the robot could work well and be directed by the remote control system wherever the CDMA 1x network covered.
Keywords :
biocybernetics; code division multiple access; control system synthesis; legged locomotion; motion control; security; telecontrol; CDMA; bionic model; client software; environment adaptability; gecko; locomotive robustness; mobile robot; motion control; motion mechanism; security monitoring field; semiautonomous sprawl legged robot; slave controller; video image; wireless remote control; Control systems; Joints; Leg; Legged locomotion; Robot kinematics; Wireless communication;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723446
