Snapbot V2: a Reconfigurable Legged Robot with a Camera for Self Configuration Recognition
| Autor: | Joohyung Kim, Kevin G. Gim |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0106 biological sciences
Generator (computer programming) Computer science business.industry 05 social sciences Modular design 010603 evolutionary biology 01 natural sciences Motion (physics) Visualization Robot 0501 psychology and cognitive sciences Computer vision 050102 behavioral science & comparative psychology Artificial intelligence Legged robot business ComputingMethodologies_COMPUTERGRAPHICS Camera module |
| Zdroj: | IROS |
| DOI: | 10.1109/iros45743.2020.9341279 |
| Popis: | In this paper, we present the second version of a reconfigurable modular legged robot, Snapbot V2. The mechanical design of Snapbot V2 is enhanced for better dynamic performance and robust connection with modular legs. A motion generator for locomotion is developed to achieve various locomotion skills in one to six-leg configurations. The locomotion is tested on a multi-body dynamic simulation model and implemented on a physical robot as well. A visual detection is implemented with a camera module to recognize the robot’s configuration. By detecting the particular color of the parts at the leg module, the robot can recognize the number and location of the connected legs. Based on the recognized configuration, Snapbot V2 selects the proper locomotion style automatically. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|