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유광종,이성용,성영휘 國立金烏工科大學校 産業技術開發硏究院 2002 産業技術開發硏究 Vol.18 No.-
A biped walking robot is constructed and used to develop algorithms for noble tasks as climbing stairways and kicking a ball. The constructed biped robot system consists of four pat ; a host controller, a mechanical robot body, a CCD camera, and a local controller. An algorithm for climbing stairways is developed and applied to the biped robot. Experimental results show that the robot can climb stairways in a statically stable fashion with the developed algorithm. An algorithm for camera calibration with minimum nonlinear distortion is adopted to acquire three-dimensional distance from image data. The biped robot can kick a ball by using the acquired distance information.