Multi-Sensor-Based Walking Gait Balance System for Small-Sized Humanoid Robot

• Main Authors: Yan-Hsiang Wang, 王彥翔
• Other Authors: Chun-Fei Hsu
• Format: Others
• Language: zh-TW
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/8h9f9s

碩士 === 淡江大學 === 電機工程學系碩士班 === 103 === In this thesis, a closed-loop feedback balance control system based on multi-sensor is designed and implemented for a small-sized humanoid robot. There are three main parts: (1) standing posture and walking trajectory planning, (2) sensor feedback, and (3) closed-loop feedback control system. In the standing posture and walking trajectory planning, a linear inverted pendulum model is used to produce a trajectory of walking gait. In the sensor feedback, a force sensor is used to calculate Zero Moment Point (ZMP) for the robot. Moreover, a gyroscope and an accelerometer are used to estimate the tilt angle of torso of robot. In the closed-loop feedback control system, an integral controller and a fuzzy controller are respectively designed to correct the static standing and balance the dynamic gait. Some experimental and comparison results are presented to illustrate that the proposed closed-loop feedback balance control system can let the small-sized humanoid robot have a better performance in the self-balancing when it walks. Moreover, the proposed method can efficiently control it to stability walk.