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SOPC Based Weight Lifting Control Design for Small-Sized Humanoid Robot
Tzuu-Hseng S. Li,Chia-Ling Hsu,Chun-Yang Hu,Yu-Te Su,Ming-Feng Lu,Shao-Hsien Liu 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
An SOPC based small-sized humanoid robot for weight lifting is introduced in this paper. All performances will be implemented using the SOPC chip, Altera EP1C12F324C8. The contribution of this paper is mainly the design of the self-balanced control of a small sized humanoid robot. According to the concept of sensory reflex, we combine the signals of the accelerometers and force sensors with a fuzzy controller to design a dynamic balanced controller for the humanoid robot. Through the implementation of the controller, we can strengthen the activity stability and the robustness of adapting to lift the weight. Finally, the experiment results show that the robot can successfully execute weight lifting function.
Real-Time Target Tracking and Obstacle Avoidance for Mobile Robots using Two Cameras
Chan-Hong Chao,Bo-Yan Hsueh,Ming-Ying Hsiao,Shun-Hung Tsai,Tzuu-Hseng S. Li 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes an image processing approach for real-time target tracking and obstacle avoidance for mobile robot navigation in an indoor environment using two cameras. Several image processing techniques which include the averaging filter, edge-detection, erosion and dilation, and color segmentation are combined to find the target and obstacles. Then one can compute the angular position of the detected target and obstacle related to the mobile robot. The two cameras are utilized to calculate the relative distance of the target and obstacle from the mobile robot. According to the distance, one can determine the relationship of the target and obstacle to the mobile robot. The best target tracking path and obstacle avoidance path can be determined by different behavior modes. Therefore, the mobile robot plans a collision-free and successful track target to complete the patrol routine. Finally, the practical experiments demonstrate the feasibility and effectiveness of the proposed schemes.