SOPC based weight lifting control design for small-sized humanoid robot

Tzuu-Hseng S. Li, Chia Ling Hsu, Chun Yang Hu, Yu Te Su, Ming Feng Lu, Shao Hsien Liu

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

4 Citations (Scopus)

Abstract

An SOPC based small-sized humanoid robot for weight lifting is introduced in this paper. All performances will be implemented using the SOPC chip, Altera EP1C12F324C8. The contribution of this paper is mainly the design of the self-balanced control of a small sized humanoid robot. According to the concept of sensory reflex, we combine the signals of the accelerometers and force sensors with a fuzzy controller to design a dynamic balanced controller for the humanoid robot. Through the implementation of the controller, we can strengthen the activity stability and the robustness of adapting to lift the weight. Finally, the experiment results show that the robot can successfully execute weight lifting function.

Original languageEnglish
Title of host publication2008 International Conference on Control, Automation and Systems, ICCAS 2008
Pages789-793
Number of pages5
DOIs
Publication statusPublished - 2008
Event2008 International Conference on Control, Automation and Systems, ICCAS 2008 - Seoul, Korea, Republic of
Duration: 2008 Oct 142008 Oct 17

Other

Other2008 International Conference on Control, Automation and Systems, ICCAS 2008
CountryKorea, Republic of
CitySeoul
Period08-10-1408-10-17

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'SOPC based weight lifting control design for small-sized humanoid robot'. Together they form a unique fingerprint.

Cite this