Designs of Servomechanism and Dynamic Sensing System for Autonomous Dynamic Balance of Humanoid Robot

淡江大學機構典藏 > 工學院 > 電機工程學系暨研究所 > 會議論文 > Item 987654321/95936

請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/95936

題名:	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
貢獻者:	淡江大學電機工程學系
關鍵詞:	Humanoid robot;Servo control system;Planning of the walking;Mechanism design
日期:	2008-11
上傳時間:	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
顯示於類別:	[電機工程學系暨研究所] 會議論文

文件中的檔案:

檔案	大小	格式	瀏覽次數
Designs of Servomechanism and Dynamic Sensing System for Autonomous Dynamic Balance of Humanoid Robot_英文摘要.docx	21Kb	Microsoft Word	159	檢視/開啟

在機構典藏中所有的資料項目都受到原著作權保護.

TAIR相關文章