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휠-트랙 하이브리드 모바일 로봇 플랫폼의 지형 적응성 및 사용자 친화성 향상을 위한 원격 조종기 설계와 개발
김윤구(Yoon-Gu Kim),안진웅(Jinung An),곽정환(Jeong-Hwan Kwak),문전일(Jeon-Il Moon) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.6
Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for surveillance, reconnaissance, search and rescue, etc. We considered a terrain-adaptive and transformable hybrid robot platform that is equipped with rapid navigation capability on flat floors and good performance in overcoming stairs or obstacles. The navigation mode transition is determined and implemented by adaptive driving mode control of the mobile robot. In order to maximize the usability of wheel-track hybrid robot platform, we propose a terrain-adaptive and user-friendly remote controller and verify the efficiency and performance through its navigation performance experiments in real and test-bed environments.