DocumentCode
3216314
Title
One-leg lifting method for humanoid robots based on SOPC design
Author
Chi-Tai Cheng ; Shih-An Li ; Ching-Chang Wong ; Li-Feng Chen ; Min-Wei Chou ; Yuen-Yang Hu
Author_Institution
Dept. of Electr. Eng., Tamkang Univ., Taipei, Taiwan
fYear
2013
fDate
2-4 Dec. 2013
Firstpage
115
Lastpage
119
Abstract
An one-leg lifting method for the humanoid robot based on SOPC design is proposed in this paper. Four pressure sensors are mounted on each foot for calculating the center of the robot´s mass. In order to speed up the calculating time, the purposed method is implemented on a System On a Programmable Chip (SOPC). The proposed method uses the determined value of the center of the mass to adjust the rotation of the robot´s joint. During the robot is lifting its leg, the center of the mass will be keep inside of the support foot. The practical experiment illustrates the effectiveness of the proposed system.
Keywords
humanoid robots; legged locomotion; motion control; pressure sensors; system-on-chip; SOPC design; humanoid robot; one-leg lifting method; pressure sensors; robot joint rotation adjustment; robots mass center; support foot; system on a programmable chip; Conferences; Foot; Humanoid robots; Legged locomotion; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Automatic Control Conference (CACS), 2013 CACS International
Conference_Location
Nantou
Print_ISBN
978-1-4799-2384-7
Type
conf
DOI
10.1109/CACS.2013.6734117
Filename
6734117
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