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Please use this identifier to cite or link to this item: http://dspace.unimap.edu.my:80/xmlui/handle/123456789/7315

Title: Design and implementation a robust structure and Fuzzy rule-based motion controller for a humanoid soccer robot
Authors: S. Alireza, Kasaei
S. Hamidreza, Kasaei
S. Mohammadreza, Kasaei
Mohsen, Taheri
Keywords: Humanoid robot;Image processing;Control systems;Machine vision;Robotics;Robots -- Design and construction;Robots -- Control
Issue Date: 11-Oct-2009
Publisher: Universiti Malaysia Perlis
Citation: p.3B6 1 - 3B6 4
Series/Report no.: Proceedings of the International Conference on Man-Machine Systems (ICoMMS 2009)
Abstract: This paper describes the hardware and software design of the kid size humanoid robot systems of the PERSIA Team in 2009. The robot has 18 actuated degrees of freedom based on Hitec HSR898. We have tried to focus on areas such as mechanical structure, Image processing unit, robot controller, Robot AI and behavior learning. This year, our developments for the Kid size humanoid robot include: (1) the design and construction of our new humanoid robots (2) the design and construction of a new hardware and software controller to be used in our robots. The project is described in two main parts: Hardware and Software. The software is developed a robot application which consists walking controller, autonomous motion robot, self localization base on vision and Particle Filter, local AI, Trajectory Planning, Motion Controller and Network. The hardware consists of the mechanical structure and the driver circuit board. Each robot is able to walk, fast walk, pass, kick and dribble when it catches the ball. The project is still in progress and some new interesting methods are described in the current report.
Description: Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.
URI: http://hdl.handle.net/123456789/7315
Appears in Collections:Conference Papers

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