教師資料查詢 | 類別: 期刊論文 | 教師: 翁慶昌 Wong Ching-chang (瀏覽個人網頁)

標題:Fuzzy control of humanoid robot for obstacle avoidance
學年96
學期2
出版(發表)日期2008/03/01
作品名稱Fuzzy control of humanoid robot for obstacle avoidance
作品名稱(其他語言)
著者翁慶昌; Wong, Ching-chang; 鄭吉泰; Cheng, Chi-tai; Huang, Kai-hsiang; Yang, Yu-ting
單位淡江大學電機工程學系
出版者Taipei: Chinese Fuzzy Systems Association
著錄名稱、卷期、頁數International Journal of Fuzzy Systems 10(1), pp.1-10
摘要A fuzzy system based on the obtained information of four infrared (IR) sensors and one electronic compass is proposed and implemented on a humanoid robot to avoid obstacles. A humanoid robot named TWNHR-3 with 26 degrees of freedom (DOFs) is designed so that it can do five basic motions. Four IR sensors and one electronic compass are installed on TWNHR-3 to detect the environment information including obstacles, the distances of the obstacles, and the directional angle of the robot. Based on the obtained information, an obstacle avoidance method is proposed to decide one behavior from five motions so that it can avoid obstacles and go to the destination area effectively. Some MATLAB simulation results with different number of obstacles and two real experiments are presented to illustrate the effectiveness of the proposed method.
關鍵字
語言英文
ISSN1562-2479
期刊性質國外
收錄於SCI;EI;
產學合作
通訊作者
審稿制度
國別德國
公開徵稿
出版型式,紙本
相關連結
Google+ 推薦功能,讓全世界都能看到您的推薦!