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
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;
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
DOI :
10.1109/ROBIO.2007.4522259
