Real-Time FPGA-Based Balance Control Method for a Humanoid Robot Pushed by External Forces
Real-Time FPGA-Based Balance Control Method for a Humanoid Robot Pushed by External Forces
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Basel: MDPI AG
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English
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Basel: MDPI AG
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In this paper, a real-time balance control method is designed and implemented on a field-programmable gate array (FPGA) chip for a small-sized humanoid robot. In the proposed balance control structure, there are four modules: (1) external force detection, (2) push recovery balance control, (3) trajectory planning, and (4) inverse kinematics. The pr...
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Real-Time FPGA-Based Balance Control Method for a Humanoid Robot Pushed by External Forces
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TN_cdi_doaj_primary_oai_doaj_org_article_1dfd007a1e2742328c59b3554ebde4d8
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https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_doaj_primary_oai_doaj_org_article_1dfd007a1e2742328c59b3554ebde4d8
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ISSN
2076-3417
E-ISSN
2076-3417
DOI
10.3390/app10082699
