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Design and implementation a robust structure and Fuzzy rule-based motion controller for a humanoid soccer robot

Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.

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Bibliographic Details
Main Authors: S. Alireza, Kasaei, S. Hamidreza, Kasaei, S. Mohammadreza, Kasaei, Mohsen, Taheri
Format: Working Paper
Language:English
Published: Universiti Malaysia Perlis 2009
Subjects:
Humanoid robot
Image processing
Control systems
Machine vision
Robotics
Robots > Design and construction
Robots > Control
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/7315
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spelling my.unimap-73152010-01-21T01:54:08Z Design and implementation a robust structure and Fuzzy rule-based motion controller for a humanoid soccer robot S. Alireza, Kasaei S. Hamidreza, Kasaei S. Mohammadreza, Kasaei Mohsen, Taheri Humanoid robot Image processing Control systems Machine vision Robotics Robots -- Design and construction Robots -- Control Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia. This paper describes the hardware and software design of the kid size humanoid robot systems of the PERSIA Team in 2009. The robot has 18 actuated degrees of freedom based on Hitec HSR898. We have tried to focus on areas such as mechanical structure, Image processing unit, robot controller, Robot AI and behavior learning. This year, our developments for the Kid size humanoid robot include: (1) the design and construction of our new humanoid robots (2) the design and construction of a new hardware and software controller to be used in our robots. The project is described in two main parts: Hardware and Software. The software is developed a robot application which consists walking controller, autonomous motion robot, self localization base on vision and Particle Filter, local AI, Trajectory Planning, Motion Controller and Network. The hardware consists of the mechanical structure and the driver circuit board. Each robot is able to walk, fast walk, pass, kick and dribble when it catches the ball. The project is still in progress and some new interesting methods are described in the current report. 2009-11-17T08:25:51Z 2009-11-17T08:25:51Z 2009-10-11 Working Paper p.3B6 1 - 3B6 4 http://hdl.handle.net/123456789/7315 en Proceedings of the International Conference on Man-Machine Systems (ICoMMS 2009) Universiti Malaysia Perlis
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Humanoid robot
Image processing
Control systems
Machine vision
Robotics
Robots -- Design and construction
Robots -- Control
spellingShingle Humanoid robot
Image processing
Control systems
Machine vision
Robotics
Robots -- Design and construction
Robots -- Control
S. Alireza, Kasaei
S. Hamidreza, Kasaei
S. Mohammadreza, Kasaei
Mohsen, Taheri
Design and implementation a robust structure and Fuzzy rule-based motion controller for a humanoid soccer robot
description Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.
format Working Paper
author S. Alireza, Kasaei
S. Hamidreza, Kasaei
S. Mohammadreza, Kasaei
Mohsen, Taheri
author_facet S. Alireza, Kasaei
S. Hamidreza, Kasaei
S. Mohammadreza, Kasaei
Mohsen, Taheri
author_sort S. Alireza, Kasaei
title Design and implementation a robust structure and Fuzzy rule-based motion controller for a humanoid soccer robot
title_short Design and implementation a robust structure and Fuzzy rule-based motion controller for a humanoid soccer robot
title_full Design and implementation a robust structure and Fuzzy rule-based motion controller for a humanoid soccer robot
title_fullStr Design and implementation a robust structure and Fuzzy rule-based motion controller for a humanoid soccer robot
title_full_unstemmed Design and implementation a robust structure and Fuzzy rule-based motion controller for a humanoid soccer robot
title_sort design and implementation a robust structure and fuzzy rule-based motion controller for a humanoid soccer robot
publisher Universiti Malaysia Perlis
publishDate 2009
url http://dspace.unimap.edu.my/xmlui/handle/123456789/7315
_version_ 1643788775859421184
score 13.222552

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