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 balancing control of a small-size humanoid robot based on accelerometer
學年98
學期1
出版(發表)日期2009/09/01
作品名稱Fuzzy balancing control of a small-size humanoid robot based on accelerometer
作品名稱(其他語言)
著者Cheng, Chi-Tai; Chen, Hao-Che; Hu, Yue-Yang; Wong, Ching-Chang
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 11(3), pp.146-153
摘要A fuzzy balancing control method is proposed and implemented on a small-size humanoid robot named TWNHR-IV in this paper. The robot TWNHR-IV is able to stand and balance on an inclined plane by the proposed method. A 3-axis accelerometer is mounted on the robot TWNHR-IV, which has 26 degrees-of-freedom (DOFs), for obtaining the 3-axis accelerations of TWNHR-IV. The proposed fuzzy method includes two two-input-and-one-output fuzzy systems, the forward-and-backward fuzzy system and the right-and-left fuzzy system. Based on the obtained information from the 3-axis accelerometer, the proposed method is able to modify the feet posture to balance TWNHR-IV. Some practical experiments with different inclining situations are presented to illustrate the efficiency of the proposed fuzzy balancing control 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Wong, Ching-Chang
審稿制度
國別德國
公開徵稿
出版型式,紙本
相關連結
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