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標題: | 四足機器人穩定爬升樓梯步態之軌跡規劃 Trajectory Planning and Four Legs Coordination for Stair Climbing in a Quadruped Robot |
作者: | Chih-Chung Ko 柯致中 |
指導教授: | 林沛群(Pei-Chun Lin) |
關鍵字: | 四足機器人,樓梯爬升,演算法,軌跡規劃,足間協調, quadruped,stair climbing,algorithm,trajectory planning,legs coordination, |
出版年 : | 2010 |
學位: | 碩士 |
摘要: | 在四足機器人家族的各類移動行為中,本論文針對樓梯爬升的能力發展出通用性廣的演算法。在半靜態穩定的前提下,演算法的內容包括了軌跡規劃以及四足協調。論文全文主要可分為兩個部分,分別介紹了四足機器人平台以不同的幾何形狀運動媒介來探討樓梯爬升的特性:直型腳和半圓腳。第一部份根據腳形狀的和樓梯之間幾何關係,來發展直型腳的基礎演算法。接著討論同時考慮兩腳和四腳的協調,最後以電腦模擬並且透過戶外環境的真實樓梯實測驗證。除此之外,針對爬行存在幾何誤差之真實樓梯的半靜態穩定度去修正機器人姿態,也在論文中報告。論文的第二部分,介紹了以半圓腳為運動媒介去發展出的演算法細節,並最後以模擬驗證。基於幾何形狀的差異而造成運動模式的不同,其內容和直型腳的討論有著不小的出入。透過探討過兩種不同類型的運動媒介,分別為基本的直型腳和進階的半圓腳,則幾乎可推廣至不同D.O.F.及各種自由度型態的其他運動媒介,驗證了此篇論文機器人爬升樓梯軌跡規劃的泛用性。 We report on the general algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot. Under such conditions, analysis of two different locomotion media is introduced in this thesis. First, we report on quadruped with straight legs. The detailed development is based on the geometrical interactions between robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. Finally, the algorithm is evaluated in the simulation environment with curvature smoothening discussion and experimented under outdoor stair field. In addition, a brief study on the static stability of the robot while climbing as well as an investigation of posture adjustment due to stair geometrical variation is also reported. On the second part of thesis, we analyze algorithm for quadruped with semi-circle legs, and then verified in simulation. Due to difference in geometric shape, this causes a big distinct between semi-circle leg and straight leg in locomotion behavior. Through discussion in these two different locomotion media, the general case: straight leg and the advanced case: semi-circle leg separately, we can generalize almost all other cases with different D.O.F. and joint types, which confirms the generosity of trajectory planning for stair climbing in quadruped robots family in this thesis. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/45061 |
全文授權: | 有償授權 |
顯示於系所單位: | 機械工程學系 |
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ntu-99-1.pdf 目前未授權公開取用 | 2.98 MB | Adobe PDF |
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