One-leg lifting method for humanoid robots based on SOPC design
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 )