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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/10574
標題: | 利用前足機構設計達成二足機器人直腿型行走控制 Straight Legged Walking Control of Biped Robot with Forefoot Mechanism |
作者: | Shih-Hsiang Lin 林詩翔 |
指導教授: | 江昭皚 |
關鍵字: | 二足機器人,人型機器人,步態規劃,零力矩點,運動學, Biped Robot,Humanoid Robot,Gait Pattern Generation,Zero Moment Point,Kinematics, |
出版年 : | 2010 |
學位: | 碩士 |
摘要: | 二足機器人多關節的設計使得二足機器人有很好的障礙處理能力。然而二足機器人高自由度的多連桿機構,造成二足機器人步行上平衡的困難。因此,二足機器人的步態設計一直是二足機器人動態步行的一個重要課題。
本研究主要目的在於利用前足的機構設計來達成二足機器人直腿型的步行。在此研究之中,利用Pro/ENGINEER 4.0設計一個包含前足機構的半身二足機器人。此機器人包含十二個自由度。利用順向運動學將二足機器人建立出一個多連桿的運動模型。利用人體步行時的關節角度作為機器人直腿型步態週期的參照,以進一步降低二足機器人逆向運動學解析時的自由度。此外使用零力矩點(Zero Moment Point, ZMP)的概念判定二足機器人的平衡狀態。最後達成二足機器人動態步型的平衡控制,以及達成利用前足的機構的二足機器人直腿型的步行。 Comparing to other kinds of robot, biped robot has the advantage of obstacle crossing based on its multiple linkages design. However, multiple linkages design which contains many degrees of freedom increases the difficulty of balance control during dynamic walking. To solve the problem of balance control, the gait design has become an important topic to the dynamic walking of biped robot. The main purpose of this study is to design a straight lagged walking control for biped robot based on forefoot mechanism. In this study, a biped robot which equipped a pair of forefoot mechanisms is designed by using Pro/ENGINEER 4.0. This robot contains 12 degrees of freedom. The robot control model is built by forward kinematic method. The zero moment point (ZMP) trajectory design is used as a main reference for robot dynamic walking, and also as a criterion of robot balance. Moreover, the joints angle of human gait is used to make a sub reference of robot straight lagged walking. The joints angle data can also decrease the calculation loading of robot inverse kinematic model. Finally, a straight lagged walking of biped robot can be implemented by using forefoot mechanism. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/10574 |
全文授權: | 同意授權(全球公開) |
顯示於系所單位: | 生物機電工程學系 |
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ntu-99-1.pdf | 4.93 MB | Adobe PDF | 檢視/開啟 |
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