Design and Implementation of Linkage Fingers and Fuzzy Waist Angle Control for Home Service Robots

Abstract

The thesis aims to design and integrate linkage fingers and fuzzy waist angle control system into the home service robot The hardware architecture of the home service robot named May is proposed It consists of several sensory subsystems such as Kinect microphone and laser range finder A notebook is adopted as the central control unit to process all the data and signals of the sensors 6-DOF arms 2-DOF neck the rotatable waist and the four-wheel independent steering and driving mobile platform In order to increase the power of the robotic elbows and decrease the load of the robotic shoulder one more motor and gear module are introduced The fingers designed by the linkage structure aim to increase the robot grasping size of object Moreover a fuzzy controller is presented to determine a more suitable angle of the waist for grasping the object and getting a better arm posture Finally the proposed fuzzy controller is implemented in the home service robot May All the experimental results demonstrate the feasibility of the developed schemes

Date of Award	2014 Aug 26
Original language	English
Supervisor	Tzuu-Hseng S. Li (Supervisor)