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Abstract
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Article Information:
Control Structure Design for Man-Function Humanoid Robot
Yifeng Cui, Jun Ho Lee, Hee Jung Byun and Su Goog Shon
Corresponding Author: Su Goog Shon
Submitted: October 17, 2012
Accepted: December 10, 2012
Published: May 05, 2013 |
Abstract:
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This study presents a new humanoid robot control structure - Man-Function humanoid robot. The sensing devices worn on the human body, these devices will produce signals of joints’ change when people move. Computer of the control system receiving the signals and processing them, then issue control signals to the servos of the robot at the same time, control the robot’s behavior. For this reason, a control structure of human’s behavior to determine the robot’s behavior formed. The humanoid robot has 17 servos and two pressure sensors, the rotation of these servos’ steering gears lead to the robot’s behavior changes and 12 servos corresponding to the human body sensing devices, other 5 servos used for the stability control of the robot combined with the pressure sensors. Based on this control structure, some pilot tests of the sensing device or servo have been done, the closed-loop position control mode has been chosen and the Kalman filter smoothing optimization method been used, the initial static walking control of the robot been realized.
Key words: Control structure, humanoid robot, kalman filter, man-function, static walking, ,
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Cite this Reference:
Yifeng Cui, Jun Ho Lee, Hee Jung Byun and Su Goog Shon, . Control Structure Design for Man-Function Humanoid Robot. Research Journal of Applied Sciences, Engineering and Technology, (18): 4518-4523.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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