Static Balancing Control of Humanoid Robot based on Accelerometer

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Title:	Static Balancing Control of Humanoid Robot based on Accelerometer
Authors:	Wong, Ching-Chang;Cheng, Chi-Tai;Chen, Hao-Che;Hu, Yue-Yang;Yin, Chii-Sheng K.H. Huang;Y.T. Yang;H.M. Chan;H.C. Chen;Y.Y. Hu;C.S. Yin
Contributors:	淡江大學電機工程學系
Date:	2008-06
Issue Date:	2012-03-29 15:56:33 (UTC+8)
Abstract:	A static balancing control method is proposed and implemented on a humanoid robot so that the robot can stand and balance on a plane. A small-size humanoid robot named TWNHR-IV with 26 degree-of-freedom (DOF) is implemented. A 3-axis accelerometer is installed on TWNHR-IV to obtain the x-axis, y-axis, and z-axis accelerations of TWNHR-IV. Based on the obtained information from the 3-axis accelerometer, a system structure with two two-input-and-one-output fuzzy systems is proposed. The acceleration and the accelerationpsilas variation of the x-axis obtained by the 3-axis accelerometer are considered to be the inputs of forward-and-backward fuzzy system. The acceleration and the accelerationpsilas variation of the y-axis are considered to be the inputs of right-and-left fuzzy system. Some practical tests are presented to illustrate the proposed method can let the humanoid robot stand and balance on a plane.
Relation:	2008 SICE The Society of Instrument and Control Engineers Annual Conference, pp. 2836-2840
DOI:	10.1109/SICE.2008.4655148
Appears in Collections:	[Graduate Institute & Department of Electrical Engineering] Proceeding

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