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)
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 to(More)
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 the(More)
In this study we found many amphibians with bizarre appearances, known as malformations in Pingtung County southern Taiwan. For this investigation we collected frogs inhabiting the Kaoping and Tungkang river watersheds between February 2006 and June 2007. Among the total number of 10,909 normal frogs (i.e., anurans) collected during the investigation(More)
Bisphenol-A(BPA), a known endocrine-disrupting chemical that is distributed world wide, is extensively employed in industry, dentistry and consumer household products. This study was conducted to explore the estrogenic effects of BA on the male freshwater prawn, Macrobrachium asperulum, by examining the daily survival rate, molting frequency, hepatosomatic(More)
2211-4254/$36 Copyright a 2012, Taiw doi:10.1016/j.gmbhs.2012.04.003 Abstract The formation of N-(2-hydroxyethyl) valine (HEV) in hemoglobin has been considered as a biologically effective dose for exposures to ethylene oxide (EO). In this study, 148 volunteers with no EO exposure history and 76 EO-exposed hospital sterilization workers in Taiwan were(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)
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)
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