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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 黃漢邦(Han-Pang Huang) | |
| dc.contributor.author | Shu-Wen Yu | en |
| dc.contributor.author | 俞舒文 | zh_TW |
| dc.date.accessioned | 2021-06-13T04:13:04Z | - |
| dc.date.available | 2006-07-28 | |
| dc.date.copyright | 2006-07-28 | |
| dc.date.issued | 2006 | |
| dc.date.submitted | 2006-07-24 | |
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Conf. on Robotics and Biomimetics, pp. 425-430, Aug. 2004. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/32661 | - |
| dc.description.abstract | 本文之主要目的為增強人型機器人在行走時的穩定性。透過結合ADAMS/Control和MATLAB/Simulink的動態模擬器，進而模擬和分析人型機器人的行走狀態以及其穩定性。並類比於人類步行的模式，分析影響機器人行走的各個因素，做一整合性的探討。
在機器人步伐行走方面，首先藉由分析機器人行走在不同環境下的步伐參數，以及透過零矩點(ZMP)的軌跡規劃來達到平滑的行走模式。模擬的結果顯示，適當的步伐參數以及零矩點規劃能大幅降低能量的耗損並增加機器人在行走時的穩定性。 在機器人行走的即時控制上，藉由模仿人類的運動模式，進而發展關聯性控制(correlation-based control)，透過所發展的控制方法可依據零矩點的回授訊號，即時改善人形機器人在行走時的穩定性。本文另發展一套RWLS（Robust Weighted Least-Squares）的演算法，以求得穩定的逆運動學（inverse kinematics）之解。最後透過動態模擬器的模擬結果加以驗證。 | zh_TW |
| dc.description.abstract | This thesis aims at the mobility enhancement of a humanoid robot. Through co-simulation method implemented by using ADAMS/Controls and MATLAB/Simulink, we analyze the kinematics and dynamics of a humanoid robot. Moreover, the analysis of the walking factors on different environment and the walking pattern generation analog to human locomotion will be thoroughly discussed.
In this thesis, we developed a simple method to generate the foot trajectory even in different environment. And a brief investigation of foot parameters is made. In order to achieve smooth walking pattern generation, the Zero-Moment Point (ZMP) trajectory planning is proposed in this thesis. With simulation results, we can tell the energy consumption decreases and the robot walks more stably with planning ZMP trajectory and suitable foot parameters. We also develop a correlation-based control (CBC) to realize on-line COG trajectory planning. The correlation-based control is designed by the correlation of those factors which can inference the walking stability. Moreover, the RWLS (Robust Weighted Least-Squares) is also developed for the reliable inverse kinematics solution. Finally, the simulation results display that our algorithms can efficiently enhance the stability of the humanoid robot. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-13T04:13:04Z (GMT). No. of bitstreams: 1 ntu-95-R94522814-1.pdf: 1973850 bytes, checksum: 427f8f3c2bad9d1b19074bbbbcdff454 (MD5) Previous issue date: 2006 | en |
| dc.description.tableofcontents | Content iii
List of Tables v List of Figures vi Nomenclature viii Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Related Works 2 1.2.1 Referential Trajectory Generation 3 1.2.2 Controller Design 4 1.3 Thesis Organization 6 1.4 Contributions 8 Chapter 2 Background Knowledge 10 2.1 Human Locomotion 11 2.2 Walking Stability 12 2.2.1 Static Walking 12 2.2.2 Zero-Moment Point (ZMP) 13 2.3 Forward Kinematics 15 2.4 Inverse Kinematics 15 2.4.1 Singularity Avoidance 16 2.4.2 Joint Limit Avoidance 19 2.4.3 Summary 22 Chapter 3 Humanoid Robot System Model 23 3.1 Modeling 24 3.2 RWLS Inverse Kinematics 26 3.3 Whole Body Motion Jacobian Construction 30 3.3.1 COG Jacobian 31 3.3.2 Universal Jacobian 37 3.3.3 Summary 39 Chapter 4 ZMP Trajectory Planning 41 4.1 Foot Trajectory 43 4.1.1 Foot Trajectory Generation 43 4.1.2 Analysis of Foot Parameters 46 4.1.3 Summary 51 4.2 ZMP Trajectory Planning 52 4.3 Simulation Results 55 4.4 Summary 59 Chapter 5 COG Trajectory Generation via Correlation-based Control 60 5.1 Correlation-based Control 61 5.1.1 Sampling Stage 63 5.1.2 Learning Stage 69 5.2 Vertical COG Motion 74 5.3 Simulation Results 75 5.4 Summary 84 Chapter 6 Conclusions 89 6.1 Conclusions 89 6.2 Future Works 90 References 92 Appendix 98 A. The Kinematics of The Humanoid Robot 98 | |
| dc.language.iso | en | |
| dc.subject | 人型機器人 | zh_TW |
| dc.subject | 步態 | zh_TW |
| dc.subject | Walking Pattern | en |
| dc.subject | Humanoid Robot | en |
| dc.title | 人型機器人步態分析及控制 | zh_TW |
| dc.title | Walking Pattern Analysis and Control of a Humanoid Robot | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 94-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 施慶隆(Ching-Long, Shih),蔡清元(Tsing-Iuan Tsay) | |
| dc.subject.keyword | 人型機器人,步態, | zh_TW |
| dc.subject.keyword | Humanoid Robot,Walking Pattern, | en |
| dc.relation.page | 99 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2006-07-26 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| 顯示於系所單位： | 機械工程學系 | |
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