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首页> 外文期刊>International Journal of Innovative Computing Information and Control >A CRITICAL REVIEW AND IMPROVEMENT METHOD ON BIPED ROBOT
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A CRITICAL REVIEW AND IMPROVEMENT METHOD ON BIPED ROBOT

机译:双足机器人的批判性改进方法

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摘要

A behavioral strategy designed for a humanoid robot for the purpose of obstacle avoidance and path correction by using three ultrasonic sensors and one compass sensor is proposed and implemented on an autonomous humanoid robot. A mechanical structure with 4 degrees of freedom is designed so that an implemented small-sized humanoid robot named ARSR is able to accomplish three types of walking motions. One experiment is presented to illustrate the proposed bipedal structure lets the ARSR move forward, turn left and turn right. Three ultrasonic sensors and one compass sensor are mounted on the ARSR to obtain the environment information and detect obstacles, respectively. Based on the information obtained from these sensors, a decision tree method is proposed to decide upon one behavior from three movements: walk forward, turn right left and turn right. An experiment is carried out to show how the robot can autonomously avoid obstacles to effectively arrive at its destination.
机译:提出了一种针对人形机器人的行为策略,该策略旨在通过使用三个超声传感器和一个罗盘传感器来避开障碍物和纠正路径,并在自主型人形机器人上实现该策略。设计了具有4个自由度的机械结构,以便已实现的名为ARSR的小型人形机器人能够完成三种步行运动。提出了一个实验来说明所提出的双足结构使ARSR向前移动,向左转和向右转。 ARSR上安装了三个超声波传感器和一个罗盘传感器,分别获取环境信息和检测障碍物。根据从这些传感器获得的信息,提出了一种决策树方法,用于从以下三个动作中确定一个行为:向前走,向右转和向右转。进行了一项实验,以显示机器人如何自动避免障碍物有效到达其目的地。

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