會議論文
| 學年 | 102 |
|---|---|
| 學期 | 1 |
| 發表日期 | 2013-12-02 |
| 作品名稱 | One-leg lifting method for humanoid robots based on SOPC design |
| 作品名稱（其他語言） | |
| 著者 | Cheng, C.T.; Li, S.A.; Wong, C.C.; Chen, L.F.;Chou, M.W.; Hu, Y.Y. |
| 作品所屬單位 | |
| 出版者 | |
| 會議名稱 | 2013 CACS International Automatic Control Conference |
| 會議地點 | Nantou, Taiwan |
| 摘要 | An one-leg lifting method for the humanoid robot based on SOPC design is proposed in this paper. Four pressure sensors are mounted on each foot for calculating the center of the robot's mass. In order to speed up the calculating time, the purposed method is implemented on a System On a Programmable Chip (SOPC). The proposed method uses the determined value of the center of the mass to adjust the rotation of the robot's joint. During the robot is lifting its leg, the center of the mass will be keep inside of the support foot. The practical experiment illustrates the effectiveness of the proposed system. |
| 關鍵字 | |
| 語言 | en_US |
| 收錄於 | |
| 會議性質 | 國際 |
| 校內研討會地點 | 無 |
| 研討會時間 | 20131202~20131204 |
| 通訊作者 | |
| 國別 | TWN |
| 公開徵稿 | |
| 出版型式 | |
| 出處 | 2013 CACS International Automatic Control Conference, pp.115-119 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/107368 ) |