Friday, January 23, 2009

Four Legged Robot

I made a four legged robot. It could walk, build a map and avoid obstacles. Histogram In Motion Mapping(HIMM) and Vector Field Histogram(VFH) were used for navigation and I implemented the control program which could build the 3D map of environment, generate behaviors of the robot and test the algorithms of map-building and obstacle avoidance.

Spec : 14DOF, AI Motor, 1 LCD, PIC MCU, 5 Ultrasonic Sensors, 1 Bluetooth, 1 Touch Sensor
I won several contests in Korea with this robot.

Architecture of Four Legged Robot

Robot Control Program

Motion Generator

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