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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 黃漢邦 | |
dc.contributor.author | Pin-Yong Ling | en |
dc.contributor.author | 凌品洋 | zh_TW |
dc.date.accessioned | 2021-06-12T18:05:55Z | - |
dc.date.available | 2013-09-20 | |
dc.date.copyright | 2011-09-20 | |
dc.date.issued | 2011 | |
dc.date.submitted | 2011-08-08 | |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/27463 | - |
dc.description.abstract | 本文的主要目的是設計一套用於人型機器人腳步規劃的演算法。不同於輪型機器人,人型機器人可以使用跨越或是上下樓梯的步伐,故可在較複雜的環境中行走。本演算法可以適用於不同高度的地形,使機器人能夠在3D的環境中搜尋路徑,並確保搜尋出的腳步是穩定且不會導致碰撞的。
由於著地時的碰撞以及計算時的誤差,在模擬時,人型機器人在行走時會產生滑動,使行走的軌跡與指定的軌跡產生偏移。這種誤差雖不至於使人型機器人不穩定,但在複雜的地形中可能會導致碰撞。為了減少這種誤差,我們將回授前腳步的資訊並及時修改下一步的位置。 雙腳在行走時所產生的角動量也可能會使機器人產生預期外的轉動。我們使用上半身的轉動來產生一個相對應的角動量來補償下半身的動作,以減少著地腳的滑動。此外,為了避免上半身轉動到誇張的角度,我們也提出一個方法來修正於行走不規則步伐時上半身的轉動範圍。 我們的模擬環境建構在ADAMS上,控制程式則在Matlab上撰寫,兩者透過Matlab內的Simulink連結。 | zh_TW |
dc.description.abstract | The main objective of this thesis is to design a footstep-planning algorithm for humanoid robots. Unlike wheeled robots, humanoid robots can negotiate obstacles and climb stairs, and is therefore more suitable for navigation in more complex environments. As the algorithm takes height and horizontal coordinates into account, the humanoid robot can plan its steps in three dimensions, allowing it to avoid collisions and remain stable throughout.
Both computational error and impact during the landing of a foot might give rise to a difference between the command trajectory and the simulation result. The robot can remain stable, but there is a possibility of collision in a complex environment. To reduce this, we use feedback information from each foot to modify the trajectory of the next step. The momentum generated by a moving foot might cause an unexpected rotational error, and we compensate for it by swinging the robot body and arms, while restricting the available range of swing to avoid exaggerated swinging motions. The simulation physical environment was constructed using ADAMS, and all of the control code was built in MATLAB. These two environments are connected by Simulink in MATLAB. | en |
dc.description.provenance | Made available in DSpace on 2021-06-12T18:05:55Z (GMT). No. of bitstreams: 1 ntu-100-R98522829-1.pdf: 2996781 bytes, checksum: c1d6bdfa1d6ecab148a0c9e994e6076a (MD5) Previous issue date: 2011 | en |
dc.description.tableofcontents | 口試委員會審定書 ........................................................................................................... i
致謝 ................................................................................................................................ ii 中文摘要 ......................................................................................................................... iii 英文摘要 ......................................................................................................................... iv 目錄 ................................................................................................................................ v 圖表目錄 ......................................................................................................................... vi 第一章、前言 .................................................................................................................. 1 第二章、前人研究 .......................................................................................................... 3 一、豇豆植物特性與溫度影響 ................................................................................. 3 二、花藥開裂與花粉釋出 ......................................................................................... 6 三、花粉活力 ............................................................................................................. 9 第三章、材料與方法 .................................................................................................... 20 一、詴驗材料 ........................................................................................................... 20 二、栽培環境與植株生長 ....................................................................................... 20 三、花藥開裂與花粉萌發 ....................................................................................... 21 四、花粉活力檢測 ................................................................................................... 22 第四章、結果 ................................................................................................................ 30 一、環境對長豇豆生長之影響 ............................................................................... 30 二、長豇豆花藥開裂時間 ....................................................................................... 31 三、花粉活力檢測 ................................................................................................... 32 第五章、討論 ................................................................................................................ 59 結論 ............................................................................................................................... 65 參考文獻 ........................................................................................................................ 66 附錄 ............................................................................................................................... 74 | |
dc.language.iso | en | |
dc.title | 雙足機器人之路徑搜尋與軌跡設計 | zh_TW |
dc.title | Footprint Searching and Trajectory Design of a Biped Robot | en |
dc.type | Thesis | |
dc.date.schoolyear | 99-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 蔡清元,林沛群 | |
dc.subject.keyword | 腳步搜尋,回授控制,軌跡規劃,軌跡即時變化,腳動量補償, | zh_TW |
dc.subject.keyword | footstep-planning,feedback control,trajectory planning,immediate modification of foot placemen,momentum compensation, | en |
dc.relation.page | 76 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2011-08-09 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
顯示於系所單位: | 機械工程學系 |
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