Abstract
In order to meet the demand for a research platform of intelligent robotics, a quadrupedal research platform JROB-2 has been developed. This paper presents the design and development of the quadrupedal walking robot JROB-2. The JROB-2 consists of five parts: quadrupedal walking mechanism, an embedded PC, servo amplifiers, power supplies, and a high speed stereo camera head. The stereo camera head can track the sinusoidal joint trajectory of the 15 ['] amplitude and about 30 [Hz] frequency. The performance of the developed camera head is high enough to imitate the human eye movement such as saccade and pursuit. Almost all components of the JROB-2 are commercially available, and thus, its developing cost is reduced and its maintenance becomes much easier. It is expected that the JROB-2 will serve as a good research platform for the studies of robotics and artificial intelligence.
| Original language | English |
|---|---|
| Pages (from-to) | 1056-1061 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 1 |
| Publication status | Published - 2002 Jan 1 |
| Event | 2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States Duration: 2002 May 11 → 2002 May 15 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering