지능형 이족보행 로봇을 위한 센서시스템 연구

Abstract

In this paper, for intelligence of the biped walking robot which has been developed in the intelligent robot and automation lab was studied and applied to the robot. Various sensors were applied for the developed BWR to autonomously and intelligent walk in unknown environments. To measure the distance between the object and BWR to avoid obstacle, ultrasonic sensor and infrared-rays sensor were used. To identify surrounding environments, vision system was used. Gyro sensor was used to control the posture of BWR. Also, piezoelectricity sensor was used to identity foot landing on the surface the tilt detection of the floor. Sensors applied to the robot have measurement errors according to the condition of noise or walking environment. To improve the function of these sensors, influences of noise or errors were minimized using the sensor fusion scheme. An experiment using the sensor fusion system was performed.