| 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 | en |
| 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 | TWN |
| 公開徵稿 | Y |
| 出版型式 | 紙本 |
| 出處 | Proceedings of the 2008 CACS International Automatic Control Conference，5頁 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/95938 ) |
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