센서를 활용한 이족보행로봇의 구동

Abstract

This thesis obtains the information of the walking of the pattern developed biped robot in our laboratory, and shows autonomous walking of the robot sensors. For a walking motion of the biped walking robot, human's walking data are obtained by using the motion capture system to apply man's walking pattern and then robot's walking motion is analyzed with the obtained data by utilizing the computer simulation. It which was the control system for control experiment of the walking robot was made, and robot which has motion capture simulation data tests out robot's walking to remote control. These systems for walking simulation and autonomous walking utilize an ultrasonic sensor and a gyro sensor. The ultrasonic sensor perceives the distance of obstacles in real time is programmed to avoid obstacles. The gyro sensor the incline angle information of the walking robot to balance it's posture. Ultrasonic waves and the gyro sensor controller are developed for remote walking of the biped walking robot obtained data. Though this experiment of biped walking robot, that operates from the command. Those which were Data-Base of self-control walking, remote control and simulation were secured by this thesis.