TY - GEN
T1 - SOPC based weight lifting control design for small-sized humanoid robot
AU - Li, Tzuu Hseng S.
AU - Hsu, Chia Ling
AU - Hu, Chun Yang
AU - Su, Yu Te
AU - Lu, Ming Feng
AU - Liu, Shao Hsien
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
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U2 - 10.1109/ICCAS.2008.4694605
DO - 10.1109/ICCAS.2008.4694605
M3 - Conference contribution
AN - SCOPUS:58149083406
SN - 9788995003893
T3 - 2008 International Conference on Control, Automation and Systems, ICCAS 2008
SP - 789
EP - 793
BT - 2008 International Conference on Control, Automation and Systems, ICCAS 2008
T2 - 2008 International Conference on Control, Automation and Systems, ICCAS 2008
Y2 - 14 October 2008 through 17 October 2008
ER -