Design and implementation of 3-DOF dynamic balancing waist and its fuzzy control for adult-sized humanoid robot

Chun Yu Lin, Kai Fan Lee, Hao Cheng Wang, Ping Huan Kuo, Ya Fang Ho, Tzuu-Hseng S. Li

研究成果: Conference contribution

摘要

This paper works on improving stability and balance with three degrees of freedom dynamic balancing waist on the adult-sized humanoid robot, David II. In order to make this adult-sized humanoid robot better than its previous version, the waist joint is assigned 3-DOF which is used to adjust the trunk. In addition, this paper also presents how the sensors work with double-stage sensor fusion filter in embedded system as well. The feedback control system continuously renews the angular position of servo motors to promote and improve the walking ability to adapt environmental change and various terrains. The results are demonstrated in the humanoid league of RoboCup Japan Open 2013 and the HuroCup of FIRA.

原文English
主出版物標題Proceedings of the SICE Annual Conference
發行者Society of Instrument and Control Engineers (SICE)
頁面2133-2138
頁數6
ISBN(電子)9784907764463
DOIs
出版狀態Published - 2014 十月 23
事件2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014 - Sapporo, Japan
持續時間: 2014 九月 92014 九月 12

出版系列

名字Proceedings of the SICE Annual Conference

Other

Other2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
國家Japan
城市Sapporo
期間14-09-0914-09-12

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • 引用此

    Lin, C. Y., Lee, K. F., Wang, H. C., Kuo, P. H., Ho, Y. F., & Li, T-H. S. (2014). Design and implementation of 3-DOF dynamic balancing waist and its fuzzy control for adult-sized humanoid robot. 於 Proceedings of the SICE Annual Conference (頁 2133-2138). [6935319] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE). https://doi.org/10.1109/SICE.2014.6935319