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

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 un...

Full description

Bibliographic Details
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
id ndltd-TW-095NCKU5442109
record_format oai_dc
spelling ndltd-TW-095NCKU54421092015-10-13T14:16:32Z http://ndltd.ncl.edu.tw/handle/29443415309726414609 Design and Implementation of SOPC Based Dynamic Balanced Control for Small Size Humanoid Robot 以SOPC設計與實現小人形機器人之動態平衡控制 Chia-Ling Hsu 許嘉玲 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. Tzuu-Hseng S. Li 李祖聖 2007 學位論文 ; thesis 69 en_US
collection NDLTD
language en_US
format Others
sources NDLTD
description 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.
author2 Tzuu-Hseng S. Li
author_facet Tzuu-Hseng S. Li
Chia-Ling Hsu
許嘉玲
author Chia-Ling Hsu
許嘉玲
spellingShingle Chia-Ling Hsu
許嘉玲
Design and Implementation of SOPC Based Dynamic Balanced Control for Small Size Humanoid Robot
author_sort Chia-Ling Hsu
title Design and Implementation of SOPC Based Dynamic Balanced Control for Small Size Humanoid Robot
title_short Design and Implementation of SOPC Based Dynamic Balanced Control for Small Size Humanoid Robot
title_full Design and Implementation of SOPC Based Dynamic Balanced Control for Small Size Humanoid Robot
title_fullStr Design and Implementation of SOPC Based Dynamic Balanced Control for Small Size Humanoid Robot
title_full_unstemmed Design and Implementation of SOPC Based Dynamic Balanced Control for Small Size Humanoid Robot
title_sort design and implementation of sopc based dynamic balanced control for small size humanoid robot
publishDate 2007
url http://ndltd.ncl.edu.tw/handle/29443415309726414609
work_keys_str_mv AT chialinghsu designandimplementationofsopcbaseddynamicbalancedcontrolforsmallsizehumanoidrobot
AT xǔjiālíng designandimplementationofsopcbaseddynamicbalancedcontrolforsmallsizehumanoidrobot
AT chialinghsu yǐsopcshèjìyǔshíxiànxiǎorénxíngjīqìrénzhīdòngtàipínghéngkòngzhì
AT xǔjiālíng yǐsopcshèjìyǔshíxiànxiǎorénxíngjīqìrénzhīdòngtàipínghéngkòngzhì
_version_ 1717751226118963200