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

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Pages1039-1044
Number of pages6
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 - San Antonio, TX, United States
Duration: 2009 Oct 112009 Oct 14

Other

Other2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
CountryUnited States
CitySan Antonio, TX
Period09-10-1109-10-14

All Science Journal Classification (ASJC) codes

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

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