| Summary: | 碩士 === 淡江大學 === 電機工程學系碩士班 === 98 === This thesis presents a fuzzy decentralized balance controller for a small size humanoid robot to step over the known obstacle and to keep dynamic balance in the face of external load. The proposed humanoid robot possesses 55 centimeter height, 3.7 kilogram weight, and 21 degree of freedom (DOF). This thesis contains the following three parts: motion control, posture capture and balance control. The first part designed a standard motion of stepping over an obstacle by human-machine interface. A set of sensors combining with two single-axis gyros in the pitching and rolling directions and one three-axis accelerometer, is employed to capture the posture of humanoid robot with respect to its center of gravity. Based on SOPC (System on a Programmable Chip), these signals are processed in the parallel type. Before applying a Kalman filter for the fusion of angular velocity and angular position, a Butterworth filter is applied to filter the unnecessary high frequency of the accelerometer. The final part of this thesis is the design of a fuzzy decentralized control to keep the dynamic balance of the humanoid robot during the stepping over an obstacle. Finally, the corresponding experiments of the stepping over an obstacle in the absence or presence of external disturbance confirm the effectiveness of the proposed humanoid robot system.
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