DocumentCode
3450097
Title
The design and control of a low cost humanoid robot
Author
Lei, Xusheng ; Wang, Tianmaio ; Chen, Dianshen ; Su, Jianbo
Author_Institution
Dept of Centre of Robot, Beijing Univ. of Aeronaut. & Astronaut., Beijing
fYear
2007
fDate
15-18 Dec. 2007
Firstpage
763
Lastpage
768
Abstract
This paper introduces the hardware of the IHR-1 humanoid robot. It has 25 degrees of freedom with low cost direct brushless actuators and sensors. Moreover, to improve system stability and adaptability, an adaptive fuzzy logic control method is proposed to adjust joint trajectories online to adapt to real working conditions. As fuzzy logic control has high potential in dealing with fuzzy information, the system can compensate for joint angle errors based on low precision sensor information. The effectiveness of the proposed method is tested on the module of the "IHR-1" humanoid robot.
Keywords
fuzzy control; humanoid robots; adaptive fuzzy logic control; brushless actuators; brushless sensors; low cost humanoid robot design; system stability; Actuators; Adaptive control; Control systems; Costs; Employee welfare; Fuzzy logic; Hardware; Humanoid robots; Programmable control; Stability; Adaptive fuzzy logic control; Error compensation; Humanoid robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location
Sanya
Print_ISBN
978-1-4244-1761-2
Electronic_ISBN
978-1-4244-1758-2
Type
conf
DOI
10.1109/ROBIO.2007.4522259
Filename
4522259
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