Abstract:
An introductory course for humanoid robot motion realization for undergraduate and graduate students is presented in this study. The basic operations of AX-12 motors and ...Show MoreMetadata
Abstract:
An introductory course for humanoid robot motion realization for undergraduate and graduate students is presented in this study. The basic operations of AX-12 motors and the mechanics combination of a 16 degrees-of-freedom (DOF) humanoid robot are presented first. The main concepts of multilink systems, zero moment point (ZMP), and feedback control are then introduced such that the students can understand the relationship between the ZMP position and the stability of the robot. Finally, the students can simulate the desired motion trajectory and realize the motion practically on the real humanoid robot. Taking this course, the students can not only learn robotic theories and control techniques for humanoid robot motion, but can also enhance their experience in hands-on experiments in executing the motion of a humanoid robot. The proposed educational strategy will enable students to progress easily to more advanced work on robot design and control in their future study or careers.
Published in: IEEE Transactions on Education ( Volume: 54, Issue: 2, May 2011)
Department of Electrical Engineering, National Central University, Jhong Li, Taiwan
Hsin-Yu Liu was born in I-Lan, Taiwan, in 1983. He received the B.S. degree from the Department of Electrical Engineering, Tamkang University, Tamsui, Taiwan, in 2001, and the M.S. degree from the Department of Electrical Engineering, National Taiwan Ocean University, Keelung, Taiwan, in 2005. He has been pursuing the Ph.D. degree with the Department of Electrical Engineering, National Central University, Chung-Li, Taiwan...Show More
Hsin-Yu Liu was born in I-Lan, Taiwan, in 1983. He received the B.S. degree from the Department of Electrical Engineering, Tamkang University, Tamsui, Taiwan, in 2001, and the M.S. degree from the Department of Electrical Engineering, National Taiwan Ocean University, Keelung, Taiwan, in 2005. He has been pursuing the Ph.D. degree with the Department of Electrical Engineering, National Central University, Chung-Li, Taiwan...View more
Department of Electrical Engineering, National Central University, Jhong Li, Taiwan
Wen-June Wang (F'08) was born in Hsinchu, Taiwan, in 1957. He received the B.S. degree in control engineering from National Chiao-Tung University, Hsin-Chu, Taiwan, in 1980; the M.S. degree in electrical engineering from Tatung University, Taipei, Taiwan, in 1984; and the Ph.D. degree from the Institute of Electronics, National Chiao-Tung University, Hsinchu, Taiwan, in 1987.
He is presently a Chair Professor with the Depa...Show More
Wen-June Wang (F'08) was born in Hsinchu, Taiwan, in 1957. He received the B.S. degree in control engineering from National Chiao-Tung University, Hsin-Chu, Taiwan, in 1980; the M.S. degree in electrical engineering from Tatung University, Taipei, Taiwan, in 1984; and the Ph.D. degree from the Institute of Electronics, National Chiao-Tung University, Hsinchu, Taiwan, in 1987.
He is presently a Chair Professor with the Depa...View more
Department of Electrical Engineering, National Formosa University, Huwei, Taiwan
Rong-Jyue Wang was born in Tai-Chung, Taiwan, in 1967. He received the B.S. and Ph.D. degrees from the Department of Electrical Engineering, National Central University, Chung-Li, Taiwan, in 1990 and 1995, respectively.
He has been an Associate Professor with the Department of Electronic Engineering, National Formosa University, Huwei, Taiwan, since 2007. His present research interests include robust control, intelligence ...Show More
Rong-Jyue Wang was born in Tai-Chung, Taiwan, in 1967. He received the B.S. and Ph.D. degrees from the Department of Electrical Engineering, National Central University, Chung-Li, Taiwan, in 1990 and 1995, respectively.
He has been an Associate Professor with the Department of Electronic Engineering, National Formosa University, Huwei, Taiwan, since 2007. His present research interests include robust control, intelligence ...View more
Contents Department of Electrical Engineering, National Central University, Jhong Li, Taiwan
Hsin-Yu Liu was born in I-Lan, Taiwan, in 1983. He received the B.S. degree from the Department of Electrical Engineering, Tamkang University, Tamsui, Taiwan, in 2001, and the M.S. degree from the Department of Electrical Engineering, National Taiwan Ocean University, Keelung, Taiwan, in 2005. He has been pursuing the Ph.D. degree with the Department of Electrical Engineering, National Central University, Chung-Li, Taiwan, since 2007. His current research interests include fuzzy control, image processing, and intelligent robots.
Hsin-Yu Liu was born in I-Lan, Taiwan, in 1983. He received the B.S. degree from the Department of Electrical Engineering, Tamkang University, Tamsui, Taiwan, in 2001, and the M.S. degree from the Department of Electrical Engineering, National Taiwan Ocean University, Keelung, Taiwan, in 2005. He has been pursuing the Ph.D. degree with the Department of Electrical Engineering, National Central University, Chung-Li, Taiwan, since 2007. His current research interests include fuzzy control, image processing, and intelligent robots.View more
Department of Electrical Engineering, National Central University, Jhong Li, Taiwan
Wen-June Wang (F'08) was born in Hsinchu, Taiwan, in 1957. He received the B.S. degree in control engineering from National Chiao-Tung University, Hsin-Chu, Taiwan, in 1980; the M.S. degree in electrical engineering from Tatung University, Taipei, Taiwan, in 1984; and the Ph.D. degree from the Institute of Electronics, National Chiao-Tung University, Hsinchu, Taiwan, in 1987.
He is presently a Chair Professor with the Department of Electrical Engineering, National Central University, Chung-Li, Taiwan. He has published more than 120 journal papers and 120 conference papers. His research interests include the areas of fuzzy theory and systems, robust control, neural networks, and pattern recognition.
Dr. Wang received the Distinguished Research Award from the National Science Council of Taiwan in 1999, 2001, and 2003. He serves as a member of the Editorial Board of numerous journals, including the Asian Journal of Control, the International Journal of Electrical Engineers, the IEEE Transactions on Fuzzy Systems, and the IEEE Transactions on Systems, Man, and Cybernetics—Part B: Cybernetics. He is also the Editor in Chief of the International Journal of Fuzzy Systems.
Wen-June Wang (F'08) was born in Hsinchu, Taiwan, in 1957. He received the B.S. degree in control engineering from National Chiao-Tung University, Hsin-Chu, Taiwan, in 1980; the M.S. degree in electrical engineering from Tatung University, Taipei, Taiwan, in 1984; and the Ph.D. degree from the Institute of Electronics, National Chiao-Tung University, Hsinchu, Taiwan, in 1987.
He is presently a Chair Professor with the Department of Electrical Engineering, National Central University, Chung-Li, Taiwan. He has published more than 120 journal papers and 120 conference papers. His research interests include the areas of fuzzy theory and systems, robust control, neural networks, and pattern recognition.
Dr. Wang received the Distinguished Research Award from the National Science Council of Taiwan in 1999, 2001, and 2003. He serves as a member of the Editorial Board of numerous journals, including the Asian Journal of Control, the International Journal of Electrical Engineers, the IEEE Transactions on Fuzzy Systems, and the IEEE Transactions on Systems, Man, and Cybernetics—Part B: Cybernetics. He is also the Editor in Chief of the International Journal of Fuzzy Systems.View more
Department of Electrical Engineering, National Formosa University, Huwei, Taiwan
Rong-Jyue Wang was born in Tai-Chung, Taiwan, in 1967. He received the B.S. and Ph.D. degrees from the Department of Electrical Engineering, National Central University, Chung-Li, Taiwan, in 1990 and 1995, respectively.
He has been an Associate Professor with the Department of Electronic Engineering, National Formosa University, Huwei, Taiwan, since 2007. His present research interests include robust control, intelligence control, fuzzy control, image recognition, and intelligent robots.
Rong-Jyue Wang was born in Tai-Chung, Taiwan, in 1967. He received the B.S. and Ph.D. degrees from the Department of Electrical Engineering, National Central University, Chung-Li, Taiwan, in 1990 and 1995, respectively.
He has been an Associate Professor with the Department of Electronic Engineering, National Formosa University, Huwei, Taiwan, since 2007. His present research interests include robust control, intelligence control, fuzzy control, image recognition, and intelligent robots.View more
