FPGA-based fuzzy PK controller and image processing system for small-sized humanoid robot

Yu Te Su; Chun Yang Hu; Tzuu-Hseng S. Li

doi:10.1109/ICSMC.2009.5346012

FPGA-based fuzzy PK controller and image processing system for small-sized humanoid robot

Yu Te Su, Chun Yang Hu, Tzuu-Hseng S. Li

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

This paper mainly covers the development of a FPGA-based fuzzy controller and image processing system for a small-sized humanoid robot. All the computations are operated on an FPGA board including the real-time image processing and the fuzzy logic controller design for PK event in FIRA RoboWorld cup. At first, the specification of the hardware is introduced. The image processing is then employed for target recognition. The control strategy system for PK event is also developed. Finally the experiments are demonstrated to verify feasibility of the proposed control system.

Original language	English
Title of host publication	Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Pages	1039-1044
Number of pages	6
DOIs	https://doi.org/10.1109/ICSMC.2009.5346012
Publication status	Published - 2009
Event	2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 - San Antonio, TX, United States Duration: 2009 Oct 11 → 2009 Oct 14

Other

Other	2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Country	United States
City	San Antonio, TX
Period	09-10-11 → 09-10-14

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering
Control and Systems Engineering
Human-Computer Interaction

Access to Document

10.1109/ICSMC.2009.5346012

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Cite this

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title = "FPGA-based fuzzy PK controller and image processing system for small-sized humanoid robot",

abstract = "This paper mainly covers the development of a FPGA-based fuzzy controller and image processing system for a small-sized humanoid robot. All the computations are operated on an FPGA board including the real-time image processing and the fuzzy logic controller design for PK event in FIRA RoboWorld cup. At first, the specification of the hardware is introduced. The image processing is then employed for target recognition. The control strategy system for PK event is also developed. Finally the experiments are demonstrated to verify feasibility of the proposed control system.",

author = "Su, {Yu Te} and Hu, {Chun Yang} and Li, {Tzuu-Hseng S.}",

year = "2009",

doi = "10.1109/ICSMC.2009.5346012",

language = "English",

isbn = "9781424427949",

pages = "1039--1044",

booktitle = "Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009",

note = "2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 ; Conference date: 11-10-2009 Through 14-10-2009",

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Su, YT, Hu, CY & Li, T-HS 2009, FPGA-based fuzzy PK controller and image processing system for small-sized humanoid robot. in Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009., 5346012, pp. 1039-1044, 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009, San Antonio, TX, United States, 09-10-11. https://doi.org/10.1109/ICSMC.2009.5346012

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AB - This paper mainly covers the development of a FPGA-based fuzzy controller and image processing system for a small-sized humanoid robot. All the computations are operated on an FPGA board including the real-time image processing and the fuzzy logic controller design for PK event in FIRA RoboWorld cup. At first, the specification of the hardware is introduced. The image processing is then employed for target recognition. The control strategy system for PK event is also developed. Finally the experiments are demonstrated to verify feasibility of the proposed control system.

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