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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/95938

    Title: Static Balancing Control of Small-Size Humanoid Robot
    Authors: Wong, Ching-Chang;Cheng, Chi-Tai;Chen, Hao-Che;Hu, Yue-Yang;Yang, Yu-Ting;Hung, Chih-Hui
    Contributors: 淡江大學電機工程學系
    Keywords: Humanoid robot;Static balancing;Fuzzy system;Accelerometer
    Date: 2008-11
    Issue Date: 2014-02-13 11:23:59 (UTC+8)
    Abstract: A small-size humanoid robot with 24 degree-of-freedom is design and implemented and a static balancing control method is proposed so that the humanoid robot can stand and balance on a plane. A 3-axis accelerometer is installed on the humanoid robot to obtain the x-axis, y-axis, and z-axis accelerations of the robot. Based on the obtained information from the 3-axis accelerometer, a system structure with two two-input-and-one-output fuzzy systems (forward-and-backward fuzzy system and right-and-left fuzzy system) is proposed. The acceleration and the acceleration's variation of the x-axis and y-axis obtained by the 3-axis accelerometer are considered to be the inputs of forward-and-backward fuzzy system and right-and-left fuzzy system, respectively. Some practical tests are presented to illustrate the proposed method can let the humanoid robot stand and balance on a plane.
    Relation: Proceedings of the 2008 CACS International Automatic Control Conference,5頁
    Appears in Collections:[Graduate Institute & Department of Electrical Engineering] Proceeding

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