TY - GEN
T1 - Stair-climbing control of humanoid robot using force and accelerometer sensors
AU - Li, Tzuu Hseng S.
AU - Su, Yu Te
AU - Kuo, Cheng Hsiang
AU - Chen, Chi Yang
AU - Hsu, Chia Ling
AU - Lu, Ming Feng
PY - 2007
Y1 - 2007
N2 - In this paper, an autonomous control scheme is proposed for humanoid robot to accomplish the stair-climbing mission. At first, we design a fuzzy based auto-balance gait controller and adopt the Zero Moment Point (ZMP) criterion to construct the basic motion patterns. Next we propose a ten-step stair-climbing control scheme. For acquiring the information from the environment, two kinds of sensors, the accelerometer and the force sensor are utilized. Experimental results demonstrate that the developed humanoid robot can successfully accomplish the stair-climbing mission though stair steps are with different height.
AB - In this paper, an autonomous control scheme is proposed for humanoid robot to accomplish the stair-climbing mission. At first, we design a fuzzy based auto-balance gait controller and adopt the Zero Moment Point (ZMP) criterion to construct the basic motion patterns. Next we propose a ten-step stair-climbing control scheme. For acquiring the information from the environment, two kinds of sensors, the accelerometer and the force sensor are utilized. Experimental results demonstrate that the developed humanoid robot can successfully accomplish the stair-climbing mission though stair steps are with different height.
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U2 - 10.1109/SICE.2007.4421336
DO - 10.1109/SICE.2007.4421336
M3 - Conference contribution
AN - SCOPUS:50249084564
SN - 4907764286
SN - 9784907764289
T3 - Proceedings of the SICE Annual Conference
SP - 2115
EP - 2120
BT - SICE Annual Conference, SICE 2007
T2 - SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
Y2 - 17 September 2007 through 20 September 2007
ER -