CMAC-based dynamic-balancing design for humanoid robot

Author

Lin, Chih-Min ; Chen, Chih-hsuan ; Lin, Ming-Hung ; Chang, Jia-Jung

Author_Institution

Dept. of Electr. Eng., Yuan Ze Univ., Taoyuan, Taiwan

fYear

2010

fDate

18-21 Aug. 2010

Firstpage

1849

Lastpage

1854

Abstract

This paper designs and implements an intelligent control system for autonomous humanoid robot to achieve the dynamic balancing control by using a Cerebellar Model Articulation Controller (CMAC) and based on system on a programmable chip (SOPC) technology. The inertial navigation system (INS) including gyroscopes and accelerometers is used to measure the attitude of humanoid robot and acceleration for modifying the dynamic stability by applying the proposed CMAC-based dynamic balancing control. Multiprocessors are designed for the benefit of increasing control performance. Finally, experimental results show that the developed system can achieve satisfactory dynamic balancing control performance for humanoid robot.

Keywords

acceleration measurement; accelerometers; attitude measurement; cerebellar model arithmetic computers; gyroscopes; humanoid robots; inertial navigation; legged locomotion; neurocontrollers; robot dynamics; stability; system-on-chip; CMAC; acceleration measurement; accelerometer; attitude measurement; autonomous humanoid robot; cerebellar model articulation controller; dynamic balancing control; dynamic stability; gyroscope; inertial system; intelligent control system; multiprocessor; system programmable chip technology; Accelerometers; Aerospace electronics; Data acquisition; Humanoid robots; Robot sensing systems; Cerebellar model articulation controller(CMAC); Dynamic balancing control; Humanoid robot;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference 2010, Proceedings of

Conference_Location

Taipei

Print_ISBN

978-1-4244-7642-8

Type

conf

Filename

5603023