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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 林沛群 | |
dc.contributor.author | Chung-Li Chen | en |
dc.contributor.author | 陳仲禮 | zh_TW |
dc.date.accessioned | 2021-05-19T17:58:22Z | - |
dc.date.available | 2026-12-31 | |
dc.date.available | 2021-05-19T17:58:22Z | - |
dc.date.copyright | 2016-10-14 | |
dc.date.issued | 2016 | |
dc.date.submitted | 2016-08-05 | |
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Grizzle, 'The spring loaded inverted pendulum as the hybrid zero dynamics of an asymmetric hopper,' IEEE Transactions on Automatic Control, vol. 54, pp. 1779-1793, 2009. [27] K. Kato and S. Hirose, 'Development of the quadruped walking robot, TITAN-IX - mechanical design concept and application for the humanitarian de-mining robot,' Advanced Robotics, vol. 15, pp. 191-204, 2001. [28] S. Kitano, S. Hirose, G. Endo, and E. F. Fukushima, 'Development of lightweight sprawling-type quadruped robot TITAN-XIII and its dynamic walking,' in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, pp. 6025-6030. [29] W.-S. Yu, 'Motion control in a tiltable two-wheel robot with generalized infrastructure of robotic mechatronics,' Department of Mechanical Engineering, National Taiwan University, Taipei, 2012. [30] S. Kim, J. E. Clark, and M. R. 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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/7912 | - |
dc.description.abstract | 機器人是近年來發展迅速的領域,隨著科技日新月異,機器人將逐漸走入人們的日常生活之中。能行走在較崎嶇的足類機器人更是未來發展的重要方向。為研究出能具有高機動性的足類機器人,越來越多的機器人在設計、控制階段中運用仿生學的概念,藉由模仿生物的行走策略來實現動態奔跑的步態。在生物上的動態步態中,四足動物的步態是一主流的研究方向,其運動方式會隨物種不同而有改變。研究這些生物的運動能發現,牠們所使用步態深受其身體結構影響。陸地上奔跑速度最快的獵豹是本研究的發想來源,獵豹高速跑動時除了腿部的強大推力外,腰部的大幅擺動也對步態的速度有很大的影響。本研究的主要目標為研究腰部擺動對動態步態產生的效應,並運用Model-based的動態步態軌跡來實現機器人的奔跑運動。文中以實驗室研發的TRL模型為基礎,加入腰部轉動的自由度,發展成TRLW模型,並將腰部限制於一參數化軌跡,使系統會有能量之進出。論文中以此模型為基礎,建立一尋找bound與pronk步態穩定點的方法,得出其步態穩定點的分布情形,並討論各參數對於步態的影響。在實驗中,將前述模型的軌跡應用於胡家睿學長所開發的TWIX機器人上,實現機器人的動態跑動步態。為了瞭解腰部結構在機器人上的作用,實驗將分別執行腰部固定的步態與具有腰部擺動的步態。觀察這兩者間的差異,能發現腰部擺動對步態產生的好壞處,並與模擬之理論值比較,驗證TRLW模型能描述四足機器人的動態特性。 | zh_TW |
dc.description.abstract | Robotics develops rapidly in these years. Followed by the advance of technology and innovation, robots will emerge into our daily life. Moreover, research on legged robots which can overcome rugged terrains is a developing trend in the future. To develop legged robots with high-agility, more and more researchers design and control robots by learning from animals' moving strategy. Gaits of quadrupeds is a main issue in discussion of animals' running. From researching animals' locomotion strategies, we can tell that the gaits animals choosen are tied to their physical structures. Cheetah is the fast animal in the world, besides powerful propulsion by rear legs, the wide swing of the waists also play a great role when they move in high speed. This research mainly focus on the effect of waist to the dynamic gaits, and model-based planning trajectories of gaits are utilized to realize the locomotion of robot. This research is based on TRL-model developed by our lab, adding the degree of freedom of the waist to develop the TRLW-model, and the waist is restricted to a parameterized trajectory. This research develops a method to find stable points of bounding and pronking gaits based on TRLW-model, and hence get the distribution of stable points, the influence of each parameter is discussed afterwards. The trajectories generated by TRLW-model are applied to the TWIX robot built by Chia-Jui Hu to realize the dynamic locomotion. To comprehend the function of the waist, waist-fixed and waist-free experiments are done. By studying the difference between them, pros and cons of the waist can be found. Furthermore, the experiment results are compared to the theoretical values to verify the TRLW-model truly works for quadruped robots. | en |
dc.description.provenance | Made available in DSpace on 2021-05-19T17:58:22Z (GMT). No. of bitstreams: 1 ntu-105-R03522808-1.pdf: 7987125 bytes, checksum: 8460f71ef53d7ef321da463541bbed16 (MD5) Previous issue date: 2016 | en |
dc.description.tableofcontents | 致謝 I
中文摘要 II abstract III 目錄 IV 圖目錄 VII 表目錄 IX 第一章 緒論 1 1.1前言 1 1.2研究動機 1 1.3文獻回顧 2 1.4貢獻 5 1.5論文架構 5 第二章 具腰部之滾動雙腳動態模型 6 2.1建立模型之推導過程 6 2.2回顧RSLIP模型 7 2.3回顧TRL模型 10 2.4建立TRLW模型之架構 13 2.5TRLW模型之動力學分析 14 2.5.1在空階段 20 2.5.2後腳站立 21 2.5.3前腳站立 22 2.5.4雙腳站立 23 2.6階段轉換 24 2.7腰部軌跡設定 26 第三章 動態模型步態生成與穩定性分析 27 3.1步態介紹 27 3.2 穩定性分析流程 30 3.3 尋找TRLW模型的fixed points 32 3.3.1初始條件空間 32 3.3.2代價函數 32 3.3.3搜尋fixed point的演算法 34 3.4TRLW模型fixed points的分布情形與其穩定性 35 3.4.1Pronk步態之fixed point 36 3.4.2bound步態之fixed point 55 3.5本章結論 56 第四章 基於TRLW模型實現動態奔跑步態 57 4.1實驗平台介紹與量測系統 57 4.1.1TWIX機器人 57 4.1.2動作擷取系統 59 4.1.3計算機身姿態 60 4.2軌跡生成 61 4.3腰部固定步態實驗 62 4.3.1腰部固定之Pronk步態 63 4.3.2腰部固定之Bound步態 66 4.3.3腰部固定之Pronk與Bound步態比較 67 4.4具腰部擺動之步態實驗 68 4.4.1腰部擺動之Pronk步態 68 4.4.2腰部擺動之Bound步態 69 4.4.3腰部擺動之Pronk與Bound步態比較 69 4.5調整軌跡之步態實驗 72 4.6本章結論 75 第五章 結論與未來展望 77 5.1結論 77 5.2未來展望 77 參考文獻 79 | |
dc.language.iso | zh-TW | |
dc.title | 以具腰部與雙滾動彈性足之動態模型建構四足機器人之動態步態 | zh_TW |
dc.title | Development of a Two-rolling-leg Model with Waist Actuation and Its Application in a Quadruped Robot with Dynamics Gaits | en |
dc.type | Thesis | |
dc.date.schoolyear | 104-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 黃光裕,王富正,游忠煌 | |
dc.subject.keyword | TRLW,具腰部結構之平面雙足模型,四足機器人,bound步態,pronk步態, | zh_TW |
dc.subject.keyword | TRLW,planar model with waist structure,quadruped robot,bounding gait,pronking gait, | en |
dc.relation.page | 81 | |
dc.identifier.doi | 10.6342/NTU201601961 | |
dc.rights.note | 同意授權(全球公開) | |
dc.date.accepted | 2016-08-07 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
dc.date.embargo-lift | 2026-12-31 | - |
顯示於系所單位: | 機械工程學系 |
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