CMAC-based dynamic-balancing design for humanoid robot

Abstract

This paper designs and implements an intelligent control system for autonomous humanoid robot to achieve the dynamic balancing control by using a Cerebellar Model Articulation Controller (CMAC) and based on system on a programmable chip (SOPC) technology. The inertial navigation system (INS) including gyroscopes and accelerometers is used to measure the attitude of humanoid robot and acceleration for modifying the dynamic stability by applying the proposed CMAC-based dynamic balancing control. Multiprocessors are designed for the benefit of increasing control performance. Finally, experimental results show that the developed system can achieve satisfactory dynamic balancing control performance for humanoid robot.