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

標題:Static Balancing Control of Humanoid Robot based on Accelerometer
學年96
學期2
發表日期2008/06/01
作品名稱Static Balancing Control of Humanoid Robot based on Accelerometer
作品名稱(其他語言)
著者Wong, Ching-Chang; Cheng, Chi-Tai; Chen, Hao-Che; Hu, Yue-Yang; Yin, Chii-Sheng;K.H. Huang; Y.T. Yang; H.M. Chan; H.C. Chen; Y.Y. Hu; C.S. Yin
作品所屬單位淡江大學電機工程學系
出版者
會議名稱2008 SICE The Society of Instrument and Control Engineers Annual Conference
會議地點Tokyo, Japan
摘要A static balancing control method is proposed and implemented on a humanoid robot so that the robot can stand and balance on a plane. A small-size humanoid robot named TWNHR-IV with 26 degree-of-freedom (DOF) is implemented. A 3-axis accelerometer is installed on TWNHR-IV to obtain the x-axis, y-axis, and z-axis accelerations of TWNHR-IV. Based on the obtained information from the 3-axis accelerometer, a system structure with two two-input-and-one-output fuzzy systems is proposed. The acceleration and the accelerationpsilas variation of the x-axis obtained by the 3-axis accelerometer are considered to be the inputs of forward-and-backward fuzzy system. The acceleration and the accelerationpsilas variation of the y-axis are considered to be the inputs of right-and-left fuzzy system. Some practical tests are presented to illustrate the proposed method can let the humanoid robot stand and balance on a plane.
關鍵字
語言英文
收錄於
會議性質國際
校內研討會地點
研討會時間
通訊作者
國別日本
公開徵稿
出版型式
出處2008 SICE The Society of Instrument and Control Engineers Annual Conference, pp. 2836-2840
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