Development Of Fuzzy Control And Trajectory Planning For NAO Humanoid STS Motion

Salikin, Khalid Nor (2016) Development Of Fuzzy Control And Trajectory Planning For NAO Humanoid STS Motion. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

The motion of sitting and standing up from a chair seemingly simple and commonplace motion we do every day. However, moving the humanoid robot from sitting position to stable standing position become most challenging motion. As known, standing position is less stable than sitting position and it be an important feature in a humanoid robotic. Since there is no actuator is needed to stabilize the robot it prove that less energy used by humanoid in sit position. Planning a successful sit-to-stand motion without falling requires true knowledge of the robot's center of mass (CoM) position during the trajectory. This is because, when the robot's thigh is lifted from the chair's surface there are change of the position of center of mass (CoM) that affecting the stability to the STS motion. In addition, the problem of limiting the ability to move the CoM to suitable position affecting the stability. Due to this issue, the first objective of this research is to plan the trajectory of sit-to-stand motion of humanoid robot without any controller. The method to identify the result is based on the Alexander STS technique by determining the CoM and ankle joint, calculate the needed angle change at each joint to move CoM into the stability region. While, second objective is to develop and validate a system that autonomously able to identify a trajectory to transfer the CoM to an appropriate position before lift-off from any chair height and also control the rise up motion until it completely at standing position .. The proposed control system used the Fuzzy logic method as the action selector. The rules are set based on CoP position and feedback from body's angular direction in y-axis on vertical plane.

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