教師資料查詢 | 類別: 期刊論文 | 教師: 鄭吉泰 Cheng Chi Tai (瀏覽個人網頁)

標題:Obstacle Avoidance Design for Humanoid Robot Based on Four Infrared Sensors
學年98
學期1
出版(發表)日期2009/09/01
作品名稱Obstacle Avoidance Design for Humanoid Robot Based on Four Infrared Sensors
作品名稱(其他語言)
著者Wong, Ching-Chang ; Cheng, Chi-Tai; Huang, Kai-Hsiang ; Yang, Yu-Ting; Chan ,Hsiang-Min ; Yin, Chii-Sheng
單位淡江大學電機工程學系
出版者臺北縣淡江大學
著錄名稱、卷期、頁數淡江理工學刊=Tamkang Journal of Science and Engineering 12(3)頁249-258
摘要A behavior strategy of humanoid robot for obstacle avoidance based on four infrared sensors is proposed and implemented on an autonomous humanoid robot. A mechanical structure with 26 degrees of freedom is design so that an implemented small-size humanoid robot named TWNHR-Ⅲ is able to accomplish five walking motions. Three walking experiments are presented to illustrate that the proposed biped structure lets TWNHR-Ⅲ can move forward, turn, and slip. One electronic compass and four infrared sensors are mounted on TWNHR-Ⅲ to obtain the head direction of the robot and detect obstacles, respectively. Based on the obtained information from these sensors, a decision tree method is proposed to decide one behavior from five movements: walk forward, turn right and left, and slip right and left. Two MATLAB simulations and one real experiment are presented to illustrate that the robot can avoid obstacles autonomously and go to the destination effectively.
關鍵字
語言英文
ISSN1560-6686
期刊性質國內
收錄於EI;
產學合作
通訊作者Wong, Ching-Chang
審稿制度
國別中華民國
公開徵稿
出版型式,紙本
相關連結
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