Design and implementation of 3-DOF dynamic balancing waist and its fuzzy control for adult-sized humanoid robot

Author

Chun-Yu Lin ; Kai-Fan Lee ; Hao-Cheng Wang ; Ping-Huan Kuo ; Ya-Fang Ho ; Li, Tzuu-Hseng S.

Author_Institution

Dept. of Electr. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan

fYear

2014

fDate

9-12 Sept. 2014

Firstpage

2133

Lastpage

2138

Abstract

This paper works on improving stability and balance with three degrees of freedom dynamic balancing waist on the adult-sized humanoid robot, David II. In order to make this adult-sized humanoid robot better than its previous version, the waist joint is assigned 3-DOF which is used to adjust the trunk. In addition, this paper also presents how the sensors work with double-stage sensor fusion filter in embedded system as well. The feedback control system continuously renews the angular position of servo motors to promote and improve the walking ability to adapt environmental change and various terrains. The results are demonstrated in the humanoid league of RoboCup Japan Open 2013 and the HuroCup of FIRA.

Keywords

feedback; fuzzy control; humanoid robots; mobile robots; multi-robot systems; position control; sensor fusion; 3-DOF dynamic balancing waist; HuroCup; RoboCup Japan Open 2013; adult-sized humanoid robot; angular position; double-stage sensor fusion filter; embedded system; feedback control; fuzzy control; servo motor; Accelerometers; Dynamics; Humanoid robots; Legged locomotion; Sensor fusion; 3-DOF waist; Adult-sized humanoid robots; Fuzzy control; dynamic balancing waist;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference (SICE), 2014 Proceedings of the

Conference_Location

Sapporo

Type

conf

DOI

10.1109/SICE.2014.6935319

Filename

6935319