Remote control based hybrid-structure robot design for home security applications
Journal
IEEE International Conference on Intelligent Robots and Systems
Pages
4484-4489
Date Issued
2006
Author(s)
Abstract
Non-industrial Robot applications are getting more popular than ever. Moving capability is one of the most important features of non-industrial robots. In general, the movements of non-industrial robots are categorized as wheeled and legged mechanical platforms. The wheeled platform performs stable and fast movement characteristics; however, it can not move on humpy grounds or cross small doorsills. Contrarily, the legged platform performs better adaptations to different types of ground conditions; nevertheless, the walking velocity and stability and the larger energy consumptions restrict the practical applications. In this paper, we present a hybridstructure robot with humanoid and vehicle types to perform home security tasks. To achieve home security issues, the smoke and temperature detection sensors are mounted on the robot. At the same time, the CCD camera is mounted on the head of robot to capture the guarded videos and to assist remote manipulations. The security robot is controlled remotely in terms of wireless manner. The proposed hybrid-structure robot behaves vehicle type in most of operation time to perform stable and fast movements and to reduce energy consumptions. When the robot enters humpy grounds or crosses small doorsills, the robot structure is changed as humanoid type to pass the non-flat grounds. Therefore, the proposed hybrid-structure security robot provides flexible adaptations to different types of ground conditions in home. Due to size limitations, the security robot can be used in regular apartments. Finally, a 50 cm in height security robot prototype is implemented in laboratory. The robot had been successfully tested for legged walking, wheeled driving, changing structures, cross small doorsills, remote manipulations, and remote monitoring of security functions. ? 2006 IEEE.
Subjects
CCD cameras
Electric power utilization
Machine design
Motion planning
Robots
Security systems
Home security
Remote manipulations
Remote monitoring
Security robots
Remote control
SDGs
Type
conference paper