Fuzzy balancing control of a small-size humanoid robot based on accelerometer

機構典藏 > College of Engineering > Graduate Institute & Department of Electrical Engineering > Journal Article > Item 987654321/75086

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Title:	Fuzzy balancing control of a small-size humanoid robot based on accelerometer
Authors:	Cheng, Chi-Tai;Chen, Hao-Che;Hu, Yue-Yang;Wong, Ching-Chang
Contributors:	淡江大學電機工程學系
Keywords:	Humanoid robot;Autonomous robot;Balancing control;Fuzzy system;Accelerometer
Date:	2009-09
Issue Date:	2012-03-12 16:37:36 (UTC+8)
Publisher:	Taipei: Chinese Fuzzy Systems Association
Abstract:	A fuzzy balancing control method is proposed and implemented on a small-size humanoid robot named TWNHR-IV in this paper. The robot TWNHR-IV is able to stand and balance on an inclined plane by the proposed method. A 3-axis accelerometer is mounted on the robot TWNHR-IV, which has 26 degrees-of-freedom (DOFs), for obtaining the 3-axis accelerations of TWNHR-IV. The proposed fuzzy method includes two two-input-and-one-output fuzzy systems, the forward-and-backward fuzzy system and the right-and-left fuzzy system. Based on the obtained information from the 3-axis accelerometer, the proposed method is able to modify the feet posture to balance TWNHR-IV. Some practical experiments with different inclining situations are presented to illustrate the efficiency of the proposed fuzzy balancing control method.
Relation:	International Journal of Fuzzy Systems 11(3), pp.146-153
Appears in Collections:	[Graduate Institute & Department of Electrical Engineering] Journal Article

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