期刊論文
| 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 | en |
| ISSN | 1562-2479 |
| 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 | 否 |
| 國別 | DEU |
| 公開徵稿 | |
| 出版型式 | ,紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/75086 ) |