篇名 | Fuzzy Balancing Control of a Small-size Humanoid Robot based on Accelerometer |
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卷期 | 11:3 |
作者 | Chi-Tai Cheng 、 Hao-Che Chen 、 Yue-Yang Hu 、 Ching-Chang Wong |
頁次 | 146-153 |
關鍵字 | Humanoid robot 、 Autonomous robot 、 Balancing control 、 Fuzzy system 、 Accelerometer 、 EI 、 SCI 、 SCIE 、 Scopus |
出刊日期 | 200909 |
A fuzzy balancing control method is proposed and implemented on a small-size humanoid robot named TWNHR-IV in this paper. The robot TWNHR-IV is able to stand and balance on an inclined plane by the proposed method. A 3-axis accelerometer is mounted on the robot TWNHR-IV, which has 26 degrees-of-freedom (DOFs), for obtaining the 3-axis accelerations of TWNHR-IV. The proposed fuzzy method includes two two-input-and-one-output fuzzy systems, the forward-and-backward fuzzy system and the right-and-left fuzzy system. Based on the obtained information from the 3-axis accelerometer, the proposed method is able to modify the feet posture to balance TWNHR-IV. Some practical experiments with different inclining situations are presented to illustrate the efficiency of the proposed fuzzy balancing control method.