Fuzzy basketball throwing strength control system for vision-based humanoid robot

doi:10.1007/978-3-642-40409-2_24

機構典藏 > College of Engineering > Graduate Institute & Department of Electrical Engineering > Proceeding > Item 987654321/92242

Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/92242

Title:	Fuzzy basketball throwing strength control system for vision-based humanoid robot
Authors:	Cheng, Chi-Tai;Wong, Ching-Chang;Hu, Yueh-Yang;Tseng, I-Hsiang;Chung, Yi-Fan;Chou ,Min-Wei
Contributors:	淡江大學電機工程學系
Keywords:	Humanoid Robot;Fuzzy Controller;Basketball
Date:	2013-05
Issue Date:	2013-09-17 16:26:43 (UTC+8)
Abstract:	A fuzzy basketball throwing strength control system for vision-based humanoid robot is proposed in this paper. The implemented method is able to adjust the speed of throwing ball for joining the basketball event in HuroCup (Humanoid Robot World Cup Soccer Tournament). The proposed method speeds up the aiming time and increases the shooting accuracy. A two inputs and one output fuzzy system are designed in this paper. Two inputs, the distance and the voltage, are used for the implemented method. The robot detects the distance between the robot and basket based on the robot’s vision system. An analog to digital system is applied to measure the robot’s voltage, which changes the torque of the motor. The output value of the fuzzy system is the motor speed of the shoulder. The proposed fuzzy system is able to decide the motor speed of the shoulder to throw the table tennis ball, which is substituted for the basketball. The effectiveness of the system is demonstrated in an empirical evaluation.
Relation:	Intelligent Robotics Systems: Inspiring the NEXT 16th FIRA RoboWorld Congress, FIRA 2013, Proceedings, pp.275-285
DOI:	10.1007/978-3-642-40409-2_24
Appears in Collections:	[Graduate Institute & Department of Electrical Engineering] Proceeding

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