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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Jin-Yeong Park Gyeong-Mok Lee Hyungwon Shim Hyuk Baek Pan-Mook Lee Bong-Huan Jun Jung-Yup Kim |
| Copyright Year | 2012 |
| Description | Author affiliation: Ocean Syst. Eng. Res. Dept., KIOST, Daejeon, South Korea (Jin-Yeong Park; Gyeong-Mok Lee; Hyungwon Shim; Hyuk Baek; Pan-Mook Lee; Bong-Huan Jun; Jung-Yup Kim) |
| Abstract | In this paper, head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot is described. The multi-legged underwater robot is supposed to survey seafloor, underwater structures, etc. Typical optic cameras, however, are not appropriate to show high quality scenes in a turbid water. Therefore, to collect images in a low visible underwater environment, the single-beam scanning sonar is proper and installed on the back of the robot. To collect sonar images without distortion caused by geological conditions of the sea floor, the robot needs to sense the attitude of the sonar and control it. This paper introduces a kinematic model of the multi-legged robot and its proper pose for head alignment of the sonar. |
| Sponsorship | Oceanic Eng. Soc. |
| Starting Page | 1 |
| Ending Page | 5 |
| File Size | 8955920 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781467308298 |
| e-ISBN | 9781467308311 |
| DOI | 10.1109/OCEANS.2012.6405137 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-10-14 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Legged locomotion Floors Robot sensing systems Kinematics Sonar measurements |
| Content Type | Text |
| Resource Type | Article |
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