Design and Implementation of Fuzzy Auto-Balance Control for Humanoid Robot
نویسندگان
چکیده
This paper is mainly to concern the research of auto-balance control for the humanoid robot. A stable gait planning is the most essential and important part in the study of humanoid robot. Therefore, we design and implement a fuzzy auto-balance controller. Firstly, this paper introduces the humanoid robot (NCKU-1) that we construct and addresses the overview of our robot system, which includes the design of mechanical structure and hardware configuration, center process unit, image process unit, sensors, and the integrated power circuit board. Furthermore, we apply two sensors, the accelerometer and the force sensor, to the robot in order to design the auto-balance controller to improve the performance of walking. Finally, our real experimental results demonstrate that our robot, NCKU-1, can balance itself on an incline, walk on a sloping surface with more smooth and stable motions.
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