Operating a six-legged outdoor patrol robot

In this paper we present the mechanical/electrical design of half-sized outdoor patrol robot CALEB I. The robots are designed to be operated by both remote control mode and autonomous mode. To patrol around buildings efficiently and safely, we implemented navigation algorithms based on GPS and odometer, and obstacle avoidance and traversal as well as posture stabilization. The robot offers autonomous surveillance for outdoor environments, which is proved by a set of experiments in outdoor environment.