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Path Tracking and Advanced Behaviors Control of a Small-Scale Humanoid Robot
|關鍵字:||small-scale humanoid robot|
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This thesis is devoted to constructing and developing an autonomous and intelligent embedded small-scale humanoid robot. Genetic algorithm and stability margin are used to find the near optimal configuration of the humanoid robot walking patterns, including forward walking, backward walking and turning. Based on these walking patterns, the advanced behaviors, standing up, ascending and descending and ramp walking can be synthesized. Vision-based self-localization together motion planning and basic walking patterns are used to accomplish path tracking of a humanoid robot. Based on the triangulation method, posture information of the humanoid robot at a flat environment is determined using a CMOS camera along with three given colorful landmarks. An electronic compass is employed to improve the accuracy of the global localization of the robot. The two behaviors of standing-up and ascending and descending stairs are designed by incorporating the force sensors and basic walking patterns, while the ramp walking is constructed by the tilt sensor and the fuzzy control. Several computer simulations and experiment results are conducted to verify the efficacy of the proposed method. The proposed methods and techniques can be expected useful and effective in developing a pragmatic, autonomous and intelligent embedded small-scale humanoid robot.
|Appears in Collections:||電機工程學系所|
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