Title :
CMAC-based dynamic-balancing design for humanoid robot
Author :
Lin, Chih-Min ; Chen, Chih-hsuan ; Lin, Ming-Hung ; Chang, Jia-Jung
Author_Institution :
Dept. of Electr. Eng., Yuan Ze Univ., Taoyuan, Taiwan
Abstract :
This paper designs and implements an intelligent control system for autonomous humanoid robot to achieve the dynamic balancing control by using a Cerebellar Model Articulation Controller (CMAC) and based on system on a programmable chip (SOPC) technology. The inertial navigation system (INS) including gyroscopes and accelerometers is used to measure the attitude of humanoid robot and acceleration for modifying the dynamic stability by applying the proposed CMAC-based dynamic balancing control. Multiprocessors are designed for the benefit of increasing control performance. Finally, experimental results show that the developed system can achieve satisfactory dynamic balancing control performance for humanoid robot.
Keywords :
acceleration measurement; accelerometers; attitude measurement; cerebellar model arithmetic computers; gyroscopes; humanoid robots; inertial navigation; legged locomotion; neurocontrollers; robot dynamics; stability; system-on-chip; CMAC; acceleration measurement; accelerometer; attitude measurement; autonomous humanoid robot; cerebellar model articulation controller; dynamic balancing control; dynamic stability; gyroscope; inertial system; intelligent control system; multiprocessor; system programmable chip technology; Accelerometers; Aerospace electronics; Data acquisition; Humanoid robots; Robot sensing systems; Cerebellar model articulation controller(CMAC); Dynamic balancing control; Humanoid robot;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
