BRAIN Journa-Design and Implementation of an Autonomous Humanoid Robot Based on Fuzzy Rule-Based Motion Controller-Figure 3. (a) Our Humanoid soccer robot, (b) Overview of the Control System

<div>The PERSIA Humanoid robot designed for has multipurpose capability. This robot</div><div>equipped with main board for motion control, vision sensor, other balancing sensors, servo motors</div><div>and etc. Figure 3 shows picture of the robot and overview of the Persia humanoid robot control</div><div>system.</div><div><div>Our robots perform high mobility and stability. The maximum speed is approximately</div><div>0.25m/s. It can also walk to any direction and targeting smoothly. For stable walking, we use an</div><div>acceleration and gyro sensors. The acceleration sensor is also used to detect falls. In our robots we</div><div>use two processors; one is used for motion control and receives data from gyro and acceleration</div><div>sensors via A/D converter, and another is used for image recognition, behavior determination and so</div><div>on.</div>