Nothing Special   »   [go: up one dir, main page]

You seem to have javascript disabled. Please note that many of the page functionalities won't work as expected without javascript enabled.
 
 
Sign in to use this feature.

Years

Between: -

Subjects

remove_circle_outline
remove_circle_outline

Journals

Article Types

Countries / Regions

Search Results (1)

Search Parameters:
Keywords = Arduino Fio

Order results
Result details
Results per page
Select all
Export citation of selected articles as:
2174 KiB  
Article
Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot
by Andrés Cela, J. Javier Yebes, Roberto Arroyo, Luis M. Bergasa, Rafael Barea and Elena López
Sensors 2013, 13(2), 1385-1401; https://doi.org/10.3390/s130201385 - 24 Jan 2013
Cited by 24 | Viewed by 11535
Abstract
Humanoid robotics is a field of a great research interest nowadays. This work implements a low-cost teleoperated system to control a humanoid robot, as a first step for further development and study of human motion and walking. A human suit is built, consisting [...] Read more.
Humanoid robotics is a field of a great research interest nowadays. This work implements a low-cost teleoperated system to control a humanoid robot, as a first step for further development and study of human motion and walking. A human suit is built, consisting of 8 sensors, 6 resistive linear potentiometers on the lower extremities and 2 digital accelerometers for the arms. The goal is to replicate the suit movements in a small humanoid robot. The data from the sensors is wirelessly transmitted via two ZigBee RF configurable modules installed on each device: the robot and the suit. Replicating the suit movements requires a robot stability control module to prevent falling down while executing different actions involving knees flexion. This is carried out via a feedback control system with an accelerometer placed on the robot’s back. The measurement from this sensor is filtered using Kalman. In addition, a two input fuzzy algorithm controlling five servo motors regulates the robot balance. The humanoid robot is controlled by a medium capacity processor and a low computational cost is achieved for executing the different algorithms. Both hardware and software of the system are based on open platforms. The successful experiments carried out validate the implementation of the proposed teleoperated system. Full article
(This article belongs to the Special Issue New Trends towards Automatic Vehicle Control and Perception Systems)
Show Figures


<p>Teleoperator suit. (<b>a</b>) Suit on a person. (<b>b</b>) DoF of the joints.</p>
Full article ">
<p>Location of robot servo motors and reference axes orientation.</p>
Full article ">
<p>PWM control signals for a servo.</p>
Full article ">
<p>Balance control process in the frontal plane of the robot.</p>
Full article ">
<p>Comparative study of Kalman filter response for Q and R determination. (<b>a</b>) R = 0.1; (<b>b</b>) R = 0.5; (<b>c</b>) R = 0.9.</p>
Full article ">
<p>Fuzzy subsets for inputs and output. (<b>a</b>) <span class="html-italic">θ</span> subsets, (<b>b</b>) <span class="html-italic">ω</span> subsets, (<b>c</b>) <span class="html-italic">ϕ</span> subsets.</p>
Full article ">
<p>3D output surface and states space. (<b>a</b>) 3D output surface obtained with XFuzzy tools. (<b>b</b>) States space and transition line.</p>
Full article ">
<p>Results of a simulation exercise. (<b>a</b>) Input signals <span class="html-italic">θ</span> and <span class="html-italic">ω</span> and the resulting angularcorrection <span class="html-italic">ϕ</span>. (<b>b</b>) Linguistic trajectories.</p>
Full article ">
<p>Angular variations in frontal and sagittal planes for a knee flexion exercise. (<b>a</b>) No balance control. (<b>b</b>) Balance control active.</p>
Full article ">
Back to TopTop