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標題: | 基於浮動平台運動學的人形機器人最佳化接觸力控制 Optimal Contact Wrench Controller for Humanoid Robots Based on Floating Base Kinematics |
作者: | Jian-Hang Chen 陳劍航 |
指導教授: | 黃漢邦 |
關鍵字: | 人型機器人,穩定控制器,最佳化接觸力,懸浮坐標系,接觸力與力矩控制器, Humanoid Robot,Stabilized Controller,Optimal Contact Wrench,Floating Base Kinematics,Contact Wrench Controller, |
出版年 : | 2017 |
學位: | 碩士 |
摘要: | 人型機器人生成步行軌跡後,可能受到外力的干擾或者地形的影響,需要實時進行控制保持穩定。本文提出了在諸如摩擦力、ZMP等物理量約束下,計算最佳接觸力的方法,並透過改變腳底板的力矩和兩腳高度差等方式實現最佳化接觸力。通常在固定坐標系逆運動學下,站立腳的位置和旋轉姿態矩陣都無法改變,只能通過改變腳底板腳踝角度間接實現腳底旋轉姿態改變。本文提出了懸浮坐標系的逆運動學,可以同時改變擺動腳和站立腳的旋轉姿態矩陣和位置。除了腳底板接觸力控制作為穩定器外,本文還提出了質心控制穩定器作為基本的穩定器。綜合上述方法可使機器人適應更多地形,並且實現穩定行走。 After the generation of walking trajectory for a humanoid, it is essential to keep balance by real-time controller to overcome the disturbance from external force or terrain. In this thesis, the desired contact wrench is derived under physical constraints such as friction constraint or ZMP constraint. The desired contact wrench is realized by foot torque controller and force difference controller. Generally, the position and rotation matrix of stance leg cannot be changed under fixed base inverse kinematics. One proposed remedy is to compensate for ankle angles indirectly to realize the desired rotation matrixes. Using floating base inverse kinematics, it is feasible to change the rotation matrixes and positions of the stance leg and the swing leg at the same time. Besides the contact wrench controller, a COG controller is proposed as a basic stabilizer. The balancing control based on the methods mentioned above makes the humanoid robot adapt to more terrain and walk stably. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/20801 |
DOI: | 10.6342/NTU201701448 |
全文授權: | 未授權 |
顯示於系所單位: | 機械工程學系 |
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