視覚情報をもつカニ型ロボットの歩行運動制御

概要

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In this research, the crab type robot based on the model of crab is treated. That is, the purpose is to develop the crab type robot, which is able to walk in various road surfaces. I have produced the crab type robot, carrying the USB camera of the 6 legs robots. When a crab type robot walks to the destination, it is necessary to take in the information on surrounding environment by the sensor, and to recognize what environment it is. Then, I carried the USB PC camera in the crab type robot as vision information. It looked for the marker using GA, distance was measured, and the orbit of the leg point was generated to move distance. On the other hand, When the obstacle which cannot be overcome on a mechanism was discovered, the creation of a detour course is taken to avoid an obstacle. I checked the usefulness of the proposed technique by experiment. From the above thing, I created the crab type robot Which can walk on real time in various environments.
2004-03-31