Design and implementation of large-scale biped robotwith waist:Using adaptive fuzzy controller

• Main Authors: Jing-Shiang LIN, 林敬祥
• Other Authors: Chih-Hui Chiu
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/49639119906050489169

碩士 === 元智大學 === 電機工程學系 === 101 === The giant biped robot have been designed and implemented in this thesis which can construct the walking path in static state. The design of waist can eliminate the vibration of the giant biped robot. In chapter five, the stability of the giant biped robot can be guaranteed by varied motion. The giant biped robot is a humanoid with 12 degree of freedoms including ankle, knee joint, hip joint and waist platform which is different from the small biped robot. The small biped robot’s hardware and control circuit have been completed by supplier, so that user only have to command the control signal. Due to the structure of the giant biped robot is bigger than a small biped robot, the effect of vibration is more obvious. Although the last generation in our lab can walk, it still have some disadvantages cause in sufficient stability. This thesis devoted to improve the mechanical structural and apply a waist of giant biped robot to increase stability. Robotic total height is modified to 150 cm, and it design a tight device to reduce the gap between wheel and motor. In the future, the waist also can be changed by user’s requirement. The motion plan is according to forward kinematics and center of gravity , and adaptive fuzzy controller is designed. Finally, we propose some experiment to express the stability.