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:One-leg lifting method for humanoid robots based on SOPC design
學年
學期
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
語言英文(美國)
收錄於
會議性質國際
校內研討會地點
研討會時間20131202~20131204
通訊作者
國別中華民國
公開徵稿
出版型式
出處2013 CACS International Automatic Control Conference, pp.115-119
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