Design and Implementation of SOPC Based Dynamic Balanced Control for Small Size Humanoid Robot

• Main Authors: Chia-Ling Hsu, 許嘉玲
• Other Authors: Tzuu-Hseng S. Li
• Format: Others
• Language: en_US
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/29443415309726414609

碩士 === 國立成功大學 === 電機工程學系碩博士班 === 95 === The whole system structure of the second generation of the small size humanoid robot (aiRobot) in our laboratory will be introduced in the thesis in detail. It contains the design and amendment of the mechanical structure, center process unit, image process unit, sensors, and the integrated power circuit board. And all performances will be implemented using the SOPC chip, Altera EP1C12F324C8. The first contribution of this thesis is mainly the planned method of behavior modes of a small sized humanoid robot. The behavior modes include walking, turning, kicking, throwing, and weight lifting. The second contribution is the design of the self-balanced control of the robot. According to the concept of sensory reflex, we combine the signals of the accelerometers and force sensors with a fuzzy controller to design a dynamic balanced controller for the humanoid robot. Through the implementation of the controller, we can strengthen the activity stability and the robustness of adapting to an unknown environment. Finally, the experiment results show that the robot can walk on an uneven floor, execute weight lifting, move forwards and backwards, and reach the goal with obstacle avoidance.