TY - GEN
T1 - FPGA-based fuzzy PK controller and image processing system for small-sized humanoid robot
AU - Su, Yu Te
AU - Hu, Chun Yang
AU - Li, Tzuu Hseng S.
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=74849103362&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=74849103362&partnerID=8YFLogxK
U2 - 10.1109/ICSMC.2009.5346012
DO - 10.1109/ICSMC.2009.5346012
M3 - Conference contribution
AN - SCOPUS:74849103362
SN - 9781424427949
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 1039
EP - 1044
BT - Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
T2 - 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Y2 - 11 October 2009 through 14 October 2009
ER -