A 4-legged mobile robot control to observe a human behavior

Abstract

This paper describes a 4-legged walking robot that is navigated by human gesture. The navigation process is composed of two phases. The first is a human following phase. To follow a human, this robot tracks a human head by visual tracking system. And the latter phase is the recognition of human gestures. To achieve reliable and real-time recognition of the human gesture, we focus o n such gestures expressed by cyclically repeated motion of the hands. W e shows how these'gestures are recognized successfully to control the 4 legged robot.

Structure design and kinematics analysis of moving system for a wheel-tracked exploration vehicle

“…Wheeled exploration vehicle has simple structure, can move rapidly and is easy to be controlled, but it can't adapt the rough terrain very well [2][3][4][5]. Legged exploration vehicle adapts the rough terrain very well and it has excellent maneuverability [6][7][8], Dante I and Dante Ⅱ which invented by the CMU Robotics Center were used to explore the volcano in Alaska in 1994.…”