教師資料查詢 | 類別: 會議論文 | 教師: 黃志良 CHIH-LYANG HUANG (瀏覽個人網頁)

標題:Designs of Servomechanism and Dynamic Sensing System for Autonomous Dynamic Balance of Humanoid Robot
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
語言英文
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
國別中華民國
公開徵稿Y
出版型式紙本
出處Proceedings of the 2008 CACS International Automatic Control Conference6頁
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