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    題名: Obstacle Avoidance Design for Humanoid Robot Based on Four Infrared Sensors
    作者: Wong, Ching-Chang;Cheng, Chi-Tai;Huang, Kai-Hsiang;Yang, Yu-Ting;Chan ,Hsiang-Min;Yin, Chii-Sheng
    貢獻者: 淡江大學電機工程學系
    關鍵詞: Humanoid Robot;Autonomous Mobile Robot;Obstacle Avoidance;Decision Tree
    日期: 2009-09-01
    上傳時間: 2010-12-01 10:33:48 (UTC+8)
    出版者: 臺北縣:淡江大學
    摘要: A behavior strategy of humanoid robot for obstacle avoidance based on four infrared sensors is proposed and implemented on an autonomous humanoid robot. A mechanical structure with 26 degrees of freedom is design so that an implemented small-size humanoid robot named TWNHR-Ⅲ is able to accomplish five walking motions. Three walking experiments are presented to illustrate that the proposed biped structure lets TWNHR-Ⅲ can move forward, turn, and slip. One electronic compass and four infrared sensors are mounted on TWNHR-Ⅲ to obtain the head direction of the robot and detect obstacles, respectively. Based on the obtained information from these sensors, a decision tree method is proposed to decide one behavior from five movements: walk forward, turn right and left, and slip right and left. Two MATLAB simulations and one real experiment are presented to illustrate that the robot can avoid obstacles autonomously and go to the destination effectively.
    關聯: 淡江理工學刊=Tamkang Journal of Science and Engineering 12(3),頁249-258
    DOI: 10.6180/jase.2009.12.3.04
    顯示於類別:[電機工程學系暨研究所] 期刊論文

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