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

fYear

2007

fDate

17-20 Oct. 2007

Firstpage

1034

Lastpage

1039

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICCAS.2007.4407050

Filename

4407050