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An one-leg lifting method for the humanoid robot based on SOPC design is proposed in this paper. Four pressure sensors are mounted on each foot for calculating the center of the robot's mass. In order to speed up the calculating time, the purposed method is implemented on a System On a Programmable Chip (SOPC). The proposed method uses the determined value of the center of the mass to adjust the rotation...
A vision-based localization system for XY Tracking platform is proposed in this paper. This platform is designed for assisting the humanoid robot to measure the walking performance. When the humanoid robot walks, the platform will keep tracking the robot and localize the position. The proposed system is able to overcome the image block problem, which is caused by the humanoid robot's moving. Two cameras...
This paper mainly covers the development of a FPGA-based fuzzy controller and image processing system for a small-sized humanoid robot. All the computations are operated on an FPGA board including the real-time image processing and the fuzzy logic controller design for PK event in FIRA RoboWorld cup. At first, the specification of the hardware is introduced. The image processing is then employed for...
This paper mainly concerns about the development of a small-sized humanoid robot for penalty kick function in FIRA by using FPGA. The environment information is captured by the CMOS image sensor and the strategy is processed by FPGA. We will describe how the robot search the ball in the field and the tracking algorithm will be introduced. The strategy for PK event will also be presented in this paper...
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