會議論文
| 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 | en |
| 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 | JPN |
| 公開徵稿 | |
| 出版型式 | |
| 出處 | 2008 SICE The Society of Instrument and Control Engineers Annual Conference, pp. 2836-2840 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/75473 ) |