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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
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dc.contributor.advisor | 施吉昇(Chi-Sheng Shih) | |
dc.contributor.author | Tzu-Hao Hu | en |
dc.contributor.author | 胡子皓 | zh_TW |
dc.date.accessioned | 2021-06-17T09:11:13Z | - |
dc.date.available | 2024-09-03 | |
dc.date.copyright | 2019-09-03 | |
dc.date.issued | 2019 | |
dc.date.submitted | 2019-08-30 | |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/74956 | - |
dc.description.abstract | 要讓雙足機器人能穩定地行走,必須要能夠處理不同地面的情境。但是因為人形機器人的行走控制必須考慮動態平衡,這個問題十分困難。由於複雜的演算法會需要強大的計算能力或者不同的機器人結構,而這在市面上能取得的機器人來說十分困難。我們選擇較為基本的走路模型。為了適應不同地面,我們收集壓力傳感器的數據,使用SVM來偵測地面類型,並把相應的參數提供給走路模型,以達到最佳的穩定表現。 | zh_TW |
dc.description.abstract | To accomplish reliable walking of biped robot, the ability to handle various terrain is very important. However, humanoid robot walking has been a challenging issue in the control field since the balance can only be achieved by considering the dynamics of the system. Instead of using sophisticated algorithms that are limited by computing power and specific control units, we choose simple walking model. To handle different ground characteristic, the class is detected by SVM with data from force sensors, and the corresponding parameters are assigned to walking model to reach optimal stability. | en |
dc.description.provenance | Made available in DSpace on 2021-06-17T09:11:13Z (GMT). No. of bitstreams: 1 ntu-108-R05922065-1.pdf: 6068289 bytes, checksum: b375f245aa083d7cdd5673147dacd600 (MD5) Previous issue date: 2019 | en |
dc.description.tableofcontents | Acknowledgments i
摘要 ii Abstract iii 1 Introduction 1 1.1 Motivation 1 1.2 Goals, Challenge, and Contribution 3 1.3 Thesis Organization 3 2 Related Work and Background Knowledge 5 2.1 Background Knowledge 5 2.1.1 Linear Inverted Pendulum Model (LIPM) 6 2.1.2 Zero Moment Point (ZMP) and cart-table model 7 2.1.3 Control system and Discretization 8 2.1.4 Optimal preview control 9 2.1.5 Support Vector Machine 10 2.2 Related Work 12 3 System Architecture 15 3.1 System Architecture 15 3.2 Problem Definition 17 4 Design Implementation 18 5 SVM Based Ground type classification 22 5.1 Feature selection of SVM 22 5.2 Choosing parameter to result type from classification 24 6 Evaluation 25 6.1 Experimental setup 25 6.1.1 Pressure Sensor Selection 25 6.1.2 Various ground setup 27 6.2 Compare the performance with different parameters 29 6.3 SVM experiment data and setting 30 6.4 Classification result and Final performance measure 30 7 Conclusion 35 Bibliography 36 | |
dc.language.iso | en | |
dc.title | 使用地面特性分類來實現雙足機器人於不同環境之行走 | zh_TW |
dc.title | Biped Walking on Various Terrain Using the Classification of
Ground Characteristic | en |
dc.type | Thesis | |
dc.date.schoolyear | 107-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 蔡欣穆,林忠緯 | |
dc.subject.keyword | 雙足機器人行走,不同地形,分類,力量感應器, | zh_TW |
dc.subject.keyword | biped walking,various terrain,classification,force sensor, | en |
dc.relation.page | 38 | |
dc.identifier.doi | 10.6342/NTU201904110 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2019-08-30 | |
dc.contributor.author-college | 電機資訊學院 | zh_TW |
dc.contributor.author-dept | 資訊工程學研究所 | zh_TW |
顯示於系所單位: | 資訊工程學系 |
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