Design and implementation of 3-DOF dynamic balancing waist and its fuzzy control for adult-sized humanoid robot

Chun Yu Lin, Kai Fan Lee, Hao Cheng Wang, Ping Huan Kuo, Ya Fang Ho, Tzuu-Hseng S. Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper works on improving stability and balance with three degrees of freedom dynamic balancing waist on the adult-sized humanoid robot, David II. In order to make this adult-sized humanoid robot better than its previous version, the waist joint is assigned 3-DOF which is used to adjust the trunk. In addition, this paper also presents how the sensors work with double-stage sensor fusion filter in embedded system as well. The feedback control system continuously renews the angular position of servo motors to promote and improve the walking ability to adapt environmental change and various terrains. The results are demonstrated in the humanoid league of RoboCup Japan Open 2013 and the HuroCup of FIRA.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
PublisherSociety of Instrument and Control Engineers (SICE)
Pages2133-2138
Number of pages6
ISBN (Electronic)9784907764463
DOIs
Publication statusPublished - 2014 Oct 23
Event2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014 - Sapporo, Japan
Duration: 2014 Sep 92014 Sep 12

Publication series

NameProceedings of the SICE Annual Conference

Other

Other2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
CountryJapan
CitySapporo
Period14-09-0914-09-12

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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