Static Balancing Control of Small-Size Humanoid Robot

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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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