Intelligent Control for Falling Prevention of Biped Walking Robot

• Main Authors: Pao-Yueh Chang, 張寶月
• Other Authors: Mao-Lin Chen
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/65071500767696928533

碩士 === 建國科技大學 === 自動化工程系暨機電光系統研究所 === 102 === The purpose of this paper is to practice the intelligent control for falling prevention of biped walking . This system analyzed walking robot’s kinematics characteristic and took BASIC Commander microchip (SBC) as the core. It sets up a gyroscope to control the robot balance and makes the robot standing up automatically while encountering falling down. The system also makes use of sensor integration technology to act as fuzzy logic principles input. By means of fuzzy control rules, the system gets the electric machinery control and makes the robot equip with intelligent control ability. The experimental simulation and verification practiced and indicated the intelligent control for falling prevention of biped walking robot is stable, fast-responsive and sturdy.