會議論文
| 學年 | 97 |
|---|---|
| 學期 | 1 |
| 發表日期 | 2008-11-21 |
| 作品名稱 | Designs of Servomechanism and Dynamic Sensing System for Autonomous Dynamic Balance of Humanoid Robot |
| 作品名稱（其他語言） | |
| 著者 | Hwang, Chih-Lyang; Wu, Han-Chen; Lu, Nien-Wen; Huang, Chun-Hao; Lin, Ming-Lung; Hsu, Ting-Chia |
| 作品所屬單位 | 淡江大學電機工程學系 |
| 出版者 | |
| 會議名稱 | 2008 CACS International Automatic Control Conference |
| 會議地點 | 臺南, 臺灣 |
| 摘要 | The main theme of this paper is focused on the designs of servomechanism and dynamic sensing system for the autonomous dynamic balance of humanoid robot. The servomechanism design includes the following four parts: (i) the lag mechanism with 7 degree-of-freedom (DOF), (ii) the hand mechanism with 4 DOF, (iii) the head and body mechanism with 2 DOF, and (iv) the driving circuit of servomotor. Most important subjects are the improvement of servo stiffness and the passive dynamic walking and running using springs. In addition, the dynamic sensing system includes the following four parts: (i) three axes accelerometer transmission module, (ii) the force detecting module, (iii) the gyro detecting module, and (iv) the decoder module of servomotor. Based on the above designs, the architecture of the autonomous dynamic balance of humanoid robot is achieved. |
| 關鍵字 | Humanoid robot;Servo control system;Planning of the walking;Mechanism design |
| 語言 | en |
| 收錄於 | |
| 會議性質 | 國際 |
| 校內研討會地點 | |
| 研討會時間 | 20081121~20081123 |
| 通訊作者 | |
| 國別 | TWN |
| 公開徵稿 | Y |
| 出版型式 | 紙本 |
| 出處 | Proceedings of the 2008 CACS International Automatic Control Conference，6頁 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/95936 ) |