Abstract: This paper designs and implements a capacitive non-contact detection sensor using parasitic capacitance and pull-up resistance. The proposed sensor replaces the peripheral components of existing sensors with the parasitic capacitance and pull-up resistance inherent in the Arduino, thereby reducing the sensor design cost. It also provides stable output by using experimentally designed compensation coefficients and filters.

• Publication Date: 14-Dec-2024
• DOI: 10.15224/978-1-63248-197-9-03
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Abstract: Humanoid robots movement without lying down in ground is of major importance This thesis focuses on the hip-ankle strategy as a method to maintain balance when subjected to a large disturbance. This strategy is characterised by a large rotation of the hip joint which repositions the Centre of Mass (CoM). The hip-ankle strategy is compared to the ankle strategy which locks the hip joint and compensates for a disturbance by applying ankle torque. Various hip-ankle strategy controllers have been presented in literature of which three im- plementations on humanoid robots are known. However, none of the research provided ex- perimental evidence that a humanoid robot can withstand larger disturbances by using the hip- ankle strategy compared to the ankle strategy.

• Publication Date: 14-Dec-2024
• DOI: 10.15224/978-1-63248-197-9-04
• Views: 0
• Downloads: 0