Design of Intelligent Wireless Control System for Autonomous Humanoid Robot

• Main Authors: Jia-Jung Chang, 張家榮
• Other Authors: 林志民
• Format: Others
• Language: en_US
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/21630330388892166607

碩士 === 元智大學 === 電機工程學系 === 98 === The purpose of this thesis is to design and implement a intelligent control system for autonomous humanoid robot to achieve the dynamic balancing control using the adaptive Cerebellar Model Articulation Controller (CMAC) based on system on a programmable chip (SoPC) technology. Human-machine interface (HMI) is designed by Visual C++, and the remote control is excuted through zigbee wireless module. Modifying the dynamic stability by applying the proposed adaptive CMAC-based dynamic balancing control. Besides, wireless module is exploiting for robot peer to peer communication monitor. The zero moment point (ZMP) reference gait trajectories can be planned and the Particle Swarm Optimization (PSO) adaptive CMAC-based ZMP compensation can on-line adjust gait trajectories to improve walking stability. Finally, the experimental results show that the developed system can achieve satisfactory control performance for high-order nonlinear humanoid robot systems.