The Design and the Development of a Biped Robot Cooperation System

摘要

The aim of this paper is to design a fuzzy motion control algorithm for a developed monocular vision system based on a cooperative transportation system of two humanoid robots. The control strategies of the cooperation transportation system contain three stages, including object searching, walking toward the transported object, and cooperatively moving the transported object. To have different moving speeds, the gait step size was pre-planned as two different modes, i.e., one of the gaits is selected to let the HR have large variations of motion and another gait is to make the HR with small variations. The fuzzy motion control algorithm is utilized to select the appropriate mode of gait. Both humanoid robots can actively search and move to the front of the target object, then cooperatively lift the target and carry it to the platform. The task of synchronous movement is controlled with fuzzy techniques through the control terminal. From the experimental results, it can be seen that both robots can distinguish the orientation of the target, move to the appropriate position, and then successfully raise the target together.