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    题名: Designs of Servomechanism and Dynamic Sensing System for Autonomous Dynamic Balance of Humanoid Robot
    作者: Hwang, Chih-Lyang;Wu, Han-Chen;Lu, Nien-Wen;Huang, Chun-Hao;Lin, Ming-Lung;Hsu, Ting-Chia
    贡献者: 淡江大學電機工程學系
    关键词: Humanoid robot;Servo control system;Planning of the walking;Mechanism design
    日期: 2008-11
    上传时间: 2014-02-13 11:23:47 (UTC+8)
    摘要: The main theme of this paper is focused on the designs of servomechanism and dynamic sensing system for the autonomous dynamic balance of humanoid robot. The servomechanism design includes the following four parts: (i) the lag mechanism with 7 degree-of-freedom (DOF), (ii) the hand mechanism with 4 DOF, (iii) the head and body mechanism with 2 DOF, and (iv) the driving circuit of servomotor. Most important subjects are the improvement of servo stiffness and the passive dynamic walking and running using springs. In addition, the dynamic sensing system includes the following four parts: (i) three axes accelerometer transmission module, (ii) the force detecting module, (iii) the gyro detecting module, and (iv) the decoder module of servomotor. Based on the above designs, the architecture of the autonomous dynamic balance of humanoid robot is achieved.
    關聯: Proceedings of the 2008 CACS International Automatic Control Conference,6頁
    显示于类别:[電機工程學系暨研究所] 會議論文

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