| dc.description.abstract | The objective of this study is to design and fabricate a robust balance biped robot. First, the “first generation humanoid biped robot” is constructed, and then the “balance controller” is designed by using the multi-link system and the COP concept. The users just input the initial state and final state motion matrices into the controller, based on the linear interpolation, COP concept, and ankle modification method, the motion matrices can be adjusted to a stable motions trajectory such that the humanoid robot can do the motion trajectory and keep balance all the time. The first generation humanoid robot can stably perform the motions such as raising hand, kicking, bowing, squatting, and walking. Subsequently, the second generation humanoid robot is accomplished by improving the hardware and controller of the first generation humanoid robot. Three degrees of freedom (DOF) motors are set at the waist, inertial measurement unit (IMU) and the fuzzy controller are employed to make the robot adjust its posture and then stably stand on the slope platform. Furthermore, this robot has image processing function to recognize, track, and shoot the target. In summary the second generation humanoid robot can accomplish the motions such as weightlifting, grabing horizontal bar, walking on the slope platform and shooting target, which show the effectiveness of robust balance control and image recognition. Finally, the experimental result data show that the waist structure and fuzzy controller can help the humanoid robot to keep balance obviously.
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