Real-time FPGA-based balance control method for a humanoid robot pushed by external forces
學年 108
學期 2
出版（發表）日期 2020-04-14
作品名稱 Real-time FPGA-based balance control method for a humanoid robot pushed by external forces
作品名稱（其他語言）
著者 Chih-Cheng Liu; Tsu-Tian Lee; Sheng-Ru Xiao; Yi-Chung Lin; Yi-Yang Lin; Ching-Chang Wong
單位
出版者
著錄名稱、卷期、頁數 Applied Sciences 10(8), 2699
摘要 In this paper, a real-time balance control method is designed and implemented on a field-programmable gate array (FPGA) chip for a small-sized humanoid robot. In the proposed balance control structure, there are four modules: (1) external force detection, (2) push recovery balance control, (3) trajectory planning, and (4) inverse kinematics. The proposed method is implemented on the FPGA chip so that it can quickly respond to keep the small-sized humanoid robot balanced when it is pushed by external forces. A gyroscope and an accelerometer are used to detect the inclination angle of the robot. When the robot is under the action of an external force, an excessively large inclination angle may be produced, causing it to lose its balance. A linear inverted pendulum with a flywheel model is employed to estimate a capture point where the robot should step to maintain its balance. In addition, the central pattern generators (CPGs) with a sinusoidal function are adopted to plan the stepping trajectories. Some experimental results are presented to illustrate that the proposed real-time balance control method can effectively enable the robot to keep its balance to avoid falling down.
關鍵字 humanoid robot; balance control; push recovery; linear inverted pendulum model; field-programmable gate array (FPGA)
語言 en
ISSN 2076-3417
期刊性質 國外
收錄於 SCI
產學合作
通訊作者
審稿制度 是
國別 CHE
公開徵稿
出版型式 ,電子版
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/119349 )

SDGS 尊嚴就業與經濟發展,產業創新與基礎設施