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

標題:Static Balancing Control of Small-Size Humanoid Robot
學年97
學期1
發表日期2008/11/21
作品名稱Static Balancing Control of Small-Size Humanoid Robot
作品名稱(其他語言)
著者Wong, Ching-Chang; Cheng, Chi-Tai; Chen, Hao-Che; Hu, Yue-Yang; Yang, Yu-Ting; Hung, Chih-Hui
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A small-size humanoid robot with 24 degree-of-freedom is design and implemented and a static balancing control method is proposed so that the humanoid robot can stand and balance on a plane. A 3-axis accelerometer is installed on the humanoid robot to obtain the x-axis, y-axis, and z-axis accelerations of the robot. Based on the obtained information from the 3-axis accelerometer, a system structure with two two-input-and-one-output fuzzy systems (forward-and-backward fuzzy system and right-and-left fuzzy system) is proposed. The acceleration and the acceleration's variation of the x-axis and y-axis obtained by the 3-axis accelerometer are considered to be the inputs of forward-and-backward fuzzy system and right-and-left fuzzy system, respectively. Some practical tests are presented to illustrate the proposed method can let the humanoid robot stand and balance on a plane.
關鍵字Humanoid robot;Static balancing;Fuzzy system;Accelerometer
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 Conference5頁
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