Development of a 3D laser scanner for guiding a six-legged walking robot

Abstract

This paper describes the mechanical design, control and performance testing of a 10mm resolution three-dimensional surface scanner with graphical display software, based on a 2D SICKTM LMS-200 laser scanner. This scanner will be used by the navigation system of a 6-legged walking vehicle (Hydrobug), currently being developed and tested at Curtin University of Technology, Australia. This robot was designed to walk over rough, broken ground or drive on four wheels over fairly smooth or flat terrain. Technical problems and future work planned for the development of a better 3D laser scanner for this walking vehicle are also described