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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/107368

    Title: One-leg lifting method for humanoid robots based on SOPC design
    Authors: Cheng, C.T.;Li, S.A.;Wong, C.C.;Chen, L.F.;Chou, M.W.;Hu, Y.Y.
    Date: 2013-12-02
    Issue Date: 2016-08-18 13:39:04 (UTC+8)
    Publisher: IEEE
    Abstract: An one-leg lifting method for the humanoid robot based on SOPC design is proposed in this paper. Four pressure sensors are mounted on each foot for calculating the center of the robot's mass. In order to speed up the calculating time, the purposed method is implemented on a System On a Programmable Chip (SOPC). The proposed method uses the determined value of the center of the mass to adjust the rotation of the robot's joint. During the robot is lifting its leg, the center of the mass will be keep inside of the support foot. The practical experiment illustrates the effectiveness of the proposed system.
    Relation: 2013 CACS International Automatic Control Conference, pp.115-119
    DOI: 10.1109/CACS.2013.6734117
    Appears in Collections:[Graduate Institute & Department of Electrical Engineering] Proceeding

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