The Development of Real-Time Balance Control System in Biped Robots Using Fuzzy Logic Algorithm

• Main Authors: Yao-Hsien Chiu, 邱耀賢
• Other Authors: Jwu-Sheng Hu
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/56422764102621315174

碩士 === 國立交通大學 === 電機與控制工程系所 === 94 === Real-time balance in biped robots is an important research issue to be solved. Traditionally, inverse kinematics from dynamic equations is solved to obtain the centre of gravity and the gesture of the robot. But the computing effort induced from the complicated technique prohibits the realization of the real-time balance. In this thesis, an intelligent control algorithm using fuzzy logic and ZMP is developed to achieve real-time balance. Our research is implemented on a biped robot named “PAPA-Man” whose mechanical architecture mimics an ostrich. The goal of the system is to make the robots balance on different landforms and incline. Further, a “Balance Control Agent” is designed using Visual Basic as the control interface. The software computes the location of the central gravity synchronously and sends commands to the robot for balance control. This work integrates the electronics and firmware of the biped robots with the communication software on the personal computer to realize the ability of real-time balance. Other objectives such as low cost, high efficient and easy to expand are also considered.