SOPC based weight lifting control design for small-sized humanoid robot

摘要

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.