Kokaj, A. J. (2018). Sensing and signal processing based control of balancing a humanoid [Dissertation, Technische Universität Wien]. reposiTUm. https://doi.org/10.34726/hss.2018.55622
In this thesis, a control sensing system for a humanoid system called Archie - a project of the Institute of Handling Robotics and Technology at the Technical University of Vienna in 2004 – was designed and implemented. The control sensing system was designed based on a microcontroller and a MPU6050. The MPU6050 has 2 sensors that are used to detect changes in the environment. The signals detected from the MPU6050 can be used to regulate and balance the system. The reaction time of the control system and the accuracy of the signals were found to be significant factors in the control sensing system.
