| Summary: | 碩士 === 國立臺灣科技大學 === 電機工程系 === 102 === Locomotion controller is an important and essential aspect for humanoid robots. This study develops a sensor-based locomotion controller for humanoid robots by using force sensitive resistor (FSR) and inertia measurement unit (IMU) sensors. To perform walk stability on uneven and ramp terrain conditions, FSR and IMU sensors are used as feedbacks to evaluate stability of biped robot. Moreover, linier inverted pendulum model (LIPM) is used to generate center of gravity (COG) trajectory. In this work, center of pressure (CoP) that was generated from four FSR sensors placed on each foot-pad is used to evaluate the locomotion stability of a biped robot. Furthermore, an IMU sensor is used to measure the biped body's tilt posture on slope terrain. As a consequence, FSR and IMU sensors are used to adjust the robot’s ankle, knee and hip joint’s angles that were obtained from LIPM and inverse kinematicsto maintain locomotion stability for the changes of terrain conditions. Especially, subsumption behavior architectures are proposed as analgorithmic framework to realize fuzzy logic control (FLC) based external force compliance controller with respect to CoP and posture inclinationfeedbacks. Finally, the performances of the proposed methods were verified with 18-degrees of freedom (DOF) kid-size biped robot (HuroEvolutionJR Taiwan-Tech).
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