@inproceedings{ea30b57061004b9fb469494007e815d2,
title = "The design and control of a low cost humanoid robot",
abstract = "This paper introduces the hardware of the IHR-1 humanoid robot. It has 25 degrees of freedom with low cost direct brushless actuators and sensors. Moreover, to improve system stability and adaptability, an adaptive fuzzy logic control method is proposed to adjust joint trajectories online to adapt to real working conditions. As fuzzy logic control has high potential in dealing with fuzzy information, the system can compensate for joint angle errors based on low precision sensor information. The effectiveness of the proposed method is tested on the module of the {"}IHR-1{"} humanoid robot.",
keywords = "Adaptive fuzzy logic control, Error compensation, Humanoid robot",
author = "Xusheng Lei and Tianmaio Wang and Dianshen Chen and Jianbo Su",
year = "2007",
doi = "10.1109/ROBIO.2007.4522259",
language = "英语",
isbn = "9781424417582",
series = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO",
publisher = "IEEE Computer Society",
pages = "763--768",
booktitle = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO",
address = "美国",
note = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO ; Conference date: 15-12-2007 Through 18-12-2007",
}