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標題: | 基於CMP準則與角動量穩定之人型機器人穩定性控制 Humanoid Robot Push Recovery Strategy Based on CMP Criterion and Angular Momentum Regulation |
作者: | Che-Hsuan Chang 張哲軒 |
指導教授: | 黃漢邦(Han-Pang Huang) |
關鍵字: | 人型機器人,機器人推動回復,角動量穩定控制器,重心力矩樞軸, Humanoid Robot,Push Recovery,Angular Momentum,Centroidal Moment Pivot, |
出版年 : | 2014 |
學位: | 碩士 |
摘要: | 人型機器人行走於外界環境時會遭受許多干擾,例如: 未知的推力,機器人與環境接觸力和機器人腳底板與地面的瞬間作用力。其中最常見的干擾就是未知的推力。對於不同類型之推力,機器人必須以不同的因應對策處理。本論文主要討論為機器人遭受瞬間推力情況,此推力施加於機器人行走之前進方向,分別從機器人前方與後方施予推力。
本論文所提出的機器人質心角動量穩定控制器,此控制器基於CMP準則與地面接觸力資訊作為回授,能有效產生相對應的上身姿態抵銷外力與未知干擾。除此之外,本論文也提出當機器人遭遇上述兩種推力情況時,產生相對應之質心軌跡修正與腳步軌跡修正之方法。綜合以上兩種因應對策,機器人能在遭遇外力後能迅速回復穩定狀態。 When a humanoid robot walks in the environment, it will face many disturbances, including unknown external push, contact forces on the body, and impact ground reaction forces. There are many unpredicted disturbance when a humanoid robot operates in a real environment. One of the most common disturbances is “push”. Different types of pushes should be handled with different strategies, and the strategy introduced in this thesis involves dealing with an external push from both the front and back of the robot in a sagittal direction. The proposed COG angular momentum regulator effectively counteracts external forces and disturbances by generating motion of the upper body via using the CMP criterion and the ground reaction forces as feedback. Furthermore, the online COG and footstep planning strategy address two different types of pushes that are also introduced. The overall push recovery strategy developed in this thesis shows the successful recovery of the robot from a push state. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/56673 |
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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