지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 동국대학교 정보융합기술원 International Journal of Assistive Robotics and Systems International Journal of Assistive Robotics and Systems Vol.10 No.1
- 발행연도
- 2009.1
- 수록면
- 15 - 25 (11page)
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초록· 키워드
오류제보하기
Even though small robots with simple driving mechanisms have advantages in manufacturing cost and ability to navigate through narrow environments, not many small-size mobile robots are used for navigating outdoor environments due to their limited mobility. In this paper, we design a modular docking device for physical connection between such small mobile robots to enhance their mobility. Such a docking mechanism is required to tolerate relative position and orientation errors between the robots while docking each other. The docking module is designed to employ a peg and cup where the base of the peg is mounted to a ball-socket joint and the motion of the peg is restrained by spring forces. We also provide a vision-based docking scheme between the modular robots under the unknown environments. Successfully connected mobile robots can cooperatively maneuver rough environment with improved mobility. We experimentally demonstrate the effectiveness of the proposed vision-based modular docking method with two small-size mobile robots.
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