PC-based Loading Estimation and the Power Scheduling Algorithm on the Humanoid Robot

PC-based人形機器人之電力排程與負載估測法則

10.29948/JAE.201104.0004

汪清國(Ching-Kuo Wang)；黃漢邦(Han-Pang Huang)；吳秋松(Chiu-Sung Wu)

放電狀態 ； 人機介面 ； 人形機器人 ； state-of-discharge ； human-machine interface ； humanoid robot

先進工程學刊

6卷2期（2011 / 04 / 01）

97 - 102

英文

鑑於自走型機器人經常受限於巡航範圍與充電便利性，電源管理與充放電系統之可靠性近年來逐漸成為研究機器人之重要論題。一般而言，機器人電源通常根據即時充放電狀態之上限作不經濟的悲觀性估測。爰此，本文旨在為人形機器人提出具有創新性、低成本而可靠性佳的電源排程法則，並配合一組PC-based 人機介面偵測機器人各耗電模組的實際負載，以有效評估線上即時充放電狀態與機器人負載之設計合理性，同時確保鋰電池充放電過程的便利性與穩定性；最後本文將進行電腦模擬及充放電實驗以驗證上述方法在人形機器人實際應用上之優越性。

Owing to the cruising scope of the mobile robot is conspicuously restrained by the heavy weight and the discharge capacity of the battery pack, power management and charge/discharge reliability are getting widespread attentions on the intelligent robots in the past years. In general, battery capacity and the state-of-discharge (SOD) are pessimistically estimated based on the upper bounds of each robot modules. This paper is aimed to develop an inexpensive, stable, and distributed power scheduling algorithm (PSA) to evaluate the on-line performance on the humanoid robot. A PC-based platform with the human-machine interface (HMI) will be applied to detect each of the modulized servo-motors and sensors. Finally, off-line simulations and experiment of the on-line data acquisition are also carefully examined and successfully demonstrated the advantages of the proposed PSA system.