二足機器人之設計與控制

Abstract

本文之主要目的，在於設計一台雙足機器人，並搭配適當的演算法及控制電路，來達成機器人於一般路面上穩定行走的成果。 在機構設計部分，以繪圖軟體CATIA以及工程軟體ADAMS去製作並且模擬kinematics與dynamics，進而預先驗證實驗結果。本文亦推導及驗證腳部機構之順向、逆向的運動學及動力學，並應用於腳部機構的運動規劃及控制上。 在步態行走控制器之設計部分，結合了中央軌跡產生器(CPG)以及零矩點指標來產生機器人重心之軌跡，再根據此重心軌跡產生擺動腳的軌跡，最後配合逆向運動學來達成全身性的運動。 在控制部分，使用DSP與FPGA之結合去做多軸馬達控制，並擷取腳踝部位裝設的六軸力規之訊號，實現具阻尼特性的阻抗控制，使機器人對地面有更好的適應性。 最終的整合測試部分，於電腦端人機介面下達控制指令，測試機器人的各種動作。未來期望能應用嵌入式系統的技術，使兩足機器人能夠成為一獨立運作之系統，做全自主運動。 關鍵詞：二足機器人、CPG、ZMP、步態規劃、運動控制

The purpose of this thesis is to design a biped robot and realize the stable walking in practical environments with an appropriate trajectory generator and controller. In the mechanism design, we use CATIA and ADAMS to construct the robot and simulate the kinematics and dynamics. The forward and inverse kinematics are also described and apply to the trajectory planning and control. In the trajectory generator, the combination of central pattern (CPG) and Zero Moment Point (ZMP) is applied to generate the trajectory of center of gravity (COG) of the biped robot. The foot trajectory is produced according to the output of CPG. Finally, the whole-body motion is fulfilled by solving the inverse kinematics. In the controller design, the combination of DSP and FPGA is applied to achieve the multi-motor control. With the information of six-axis force/torque sensor, the impedance control can be applied to the biped robot so that the robot can adapt the environment more easily. In the final integration, trajectories are calculated in PC and send to the robot via GUI to test all kinds of motions. In the future, we expect to bring the technique of embedded system into the biped robot to realize the autonomous motion. Finally, the simulation and experiment results verify that the biped robot can walk on a flat ground stably without falling with the proposed CPG/ZMP system. Key words: Biped Robot, CPG, ZMP, Trajectory Planning, Motion Control