Abstract
This paper presents the design and implementation of a remote control system for a bio-inspired jumping robot. The system is composed of a server, a gateway, and a jumping robot. The proposed remote control system is used to monitor the posture of the jumping robot and control it in remote places. A three-axis accelerometer is used to detect the tilts of the robot. A compass is used to sense the azimuth of the robot. The calibrations of the accelerometer and the compass are conducted. The sensor data of the robot can be sent to the server through a ZigBee wireless sensor network (WSN). An algorithm is designed to calculate the posture of the robot from the sensor data. The posture of the robot can be displayed on the human-computer interface of the server using the virtual reality technology of OpenGL. The robots can be controlled by the operator through the interface. Two experiments have been done to verify the posture detection method and test the performance of the system.
Highlights
Mobile robots have been widely used to execute difficult tasks when the working environments are dangerous or even can not be reached by human
This paper presents the design of a remote control system for the remote control of a jumping robot
The postures of the robot are detected by a three‐ axis accelerometer
Summary
Mobile robots have been widely used to execute difficult tasks when the working environments are dangerous or even can not be reached by human. With the capabilities of quickly overcoming obstacles and avoiding risks, jumping robots can be applied in many fields such as planets exploring [8], search and rescue [13], surveillance operations, and scout [14] These robots mounted with sensors and wireless communication devices are able to enter into dangerous and unfriendly environments to execute their missions. A three‐axis accelerometer is used to detect the posture of the robot while a compass is adopted to sense the movement direction of the robot The data from these two kinds of sensors are received by the server through a WSN. Several compass sensor applications are presented in vehicle detection and navigation systems for magnetic sensing based on magnetic fields [33].
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