Kai-Hsiang Huang

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In this paper, a path planning of humanoid robot for obstacle avoidance by using infrared sensors (IRs) is proposed. An autonomous humanoid robot TWNHR-3 is used to implement the proposed strategy. Four IR sensors are mounted on TWNHR-3 to detect obstacles. Based on the obtained information from IR sensors, a decision tree method is proposed to decide the(More)
1 A fuzzy system based on the obtained information of four infrared (IR) sensors and one electronic compass is proposed and implemented on a humanoid robot to avoid obstacles. A humanoid robot named TWNHR-3 with 26 degrees of freedom (DOFs) is designed so that it can do five basic motions. Four IR sensors and one electronic compass are installed on TWNHR-3(More)
1 A vision-based fuzzy obstacle avoidance method is designed and implemented on a humanoid robot so that it can avoid obstacles successfully and arrive at the terminal area effectively. A humanoid robot with 23 degrees of freedom is implemented so that it can execute six basic walking motions. One vision system and one electronic compass are installed on(More)
A mechanical structure with 26 degrees of freedom is proposed so that an implemented small-size humanoid robot named TWNHR-IV is able to accomplish some human-like walking motions. The height and weight of the implemented robot is 43 cm and 3.4 kg, respectively. There are 2 degrees of freedom on the head, 2 degrees of freedom on the trunk, 4 degrees of(More)
A brief description of a kid-size humanoid soccer robot named TWNHR-IV to attend the humanoid league of RoboCup 2009 is described. The height of TWNHR-IV is 46 cm and the weight is 3.6 kg with batteries. It is designed by the TKU team of Intelligent Control Laboratory in Tamkang University (TKU). First, a mechanical structure with 26 degrees of freedom for(More)
A humanoid soccer robot named TWNHR-IV and designed by the TKU team to attend the HuroSot League of FIRA RoboWorld Cup is presented. A platform for the study of biped walking control is designed and implemented. A system architecture for TWNHR-IV is presented, where a CMOS sensor, a digital compass, an accelerometer, and eight pressure sensors are used to(More)
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