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1、Obstacle Avoidance Design for Humanoid RobotBased on Four Infrared SensorsChing-Chang Wong1*, Chi-Tai Cheng1, Kai-Hsiang Huang1, Yu-Ting Yang1,Hsiang-Min Chan1 and Chii-Sheng Yin21Department of Electrical Engineering, Tamkang University,Tamsui, Taiwan 251, R.O.C.2Metal Industries Research & Developm
2、ent Centre,Kaohsiung, Taiwan 811, R.O.C.AbstractAbehavior strategy of humanoid robot for obstacle avoidance based on four infrared sensors isproposed and implemented on an autonomous humanoid robot. A mechanical structure with 26degrees of freedom is design so that an implemented small-size humanoid
3、 robot named TWNHR-III isable to accomplish five walking motions. Three walking experiments are presented to illustrate that theproposed biped structure lets TWNHR-III can move forward, turn, and slip. One electronic compassand four infrared sensors are mounted on TWNHR-III to obtain the head direct
4、ion of the robot anddetect obstacles, respectively. Based on the obtained information from these sensors, a decision treemethod is proposed to decide one behavior from five movements: walk forward, turn right and left, andslip right and left. Two MATLAB simulations and one real experiment are presen
5、ted to illustrate thatthe robot can avoid obstacles autonomously and go to the destination effectively.Key Words: Humanoid Robot, Autonomous Mobile Robot, Obstacle Avoidance, Decision Tree1. IntroductionAlthough the robot has been investigated for many years, there are still many issues to be studie
6、d, especially in the humanoid robots 1_4. Hardware and software architectures,walking gait generation, and artificial intelligence are the main research fields of humanoid robots.Robot soccer games are used to encourage the researches on robotics and artificial intelligence (AI). Two international r
7、obot soccer associations, RoboCup 5 and FIRA6, advance this research and hold the international competitions and the international symposiums. Robot soccer games are two teams constituted by several soccer robots to play soccer games under some size restrictions and rules. In the FIRA Cup event, sev
8、eral main categories are organized: the Micro-robot Soccer tournament(MiroSot), the Simulated robot Soccer tournament (SimuroSot),the Robot Soccer tournament (RoboSot), and the Humanoid robot Soccer tournament (HuroSot). In the HuroSot category, the humanoid robot has to detect all information from
9、the game field and decides its strategy by itself. There are many robots in the match field, so the robot must have the ability to avoid the collision with other robots and walk to an appropriate destination.Thus obstacle run is a competition category in the HuroSot league of FIRACup. The main idea
10、of this competition category is used to test the ability of obstacle avoidance of the robot. In general, vision sensors, ultrasonic sensors, and infrared sensors are usually used todetect obstacles in the soccer game 7_11.In this paper, a mechanical structure with 26 degrees of freedom is design so
11、that an implemented small-size humanoid robot named TWNHR-III (TaiWaN HumanoidRobot-III) is able to accomplish five walking motions:walk forward, turn right and left, and slip right and left. One digital electronic compass and four infrared sensors are installed on TWNHR-III. Based on the informatio
12、n obtained from these sensors, a decision tree method is proposed to determine one behavior from these five movements in each decision so that TWNHR-III can avoid obstacles and go to a destination effectively.The rest of this paper is organized as follows: In Section 2, the system architecture of TW
13、NHR-III is described.In Section 3, a decision tree method for obstacleavoidance is proposed and two simulation results and one practical test on TWNHR-III are described. In Section 4, some conclusions are made.2. System Architecture of TWNHR-IIIThe system architecture of TWNHR-III is described in th
14、is section. The height of TWNHR-III is 46 cm and the weight is 3.1 kg with batteries. The frameworks of TWNHR-III are mainly fabricated from aluminum alloy 5052 in order to realize the concepts of light weight, wear-resisting, high stiffness, and wide movable range.Each actuator system of the joint
15、consists of a high torque and a gear. The rotating speed and rotating angle of each joint are designed based on the result of computer program. The mechanical structure and electronic structure of TWNHR-III are described as follows:2.1 Mechanical StructureMechanical structure design is the first ste
16、p in the humanoid robot design. The degrees of freedom (DOFs) configuration for TWNHR-III is described in Figure 1,where 26 degrees of freedom are implemented and the rotational direction of each joint is defined by using the inertial coordinate system fixed on the ground. There are 2 degrees of freedom on the neck, 2 degrees of freedom on the waist and trunk, 8 degrees of freedom on the arm,and 14 degrees of freedom on the two legs
