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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 林沛群(Pei-Chun Lin) | |
| dc.contributor.author | Chih-Chung Ko | en |
| dc.contributor.author | 柯致中 | zh_TW |
| dc.date.accessioned | 2021-06-15T04:03:01Z | - |
| dc.date.available | 2010-02-24 | |
| dc.date.copyright | 2010-02-24 | |
| dc.date.issued | 2010 | |
| dc.date.submitted | 2010-02-11 | |
| dc.identifier.citation | 1. Shuan-Yu Shen, C.-H.L., Chih-Chung Cheng, Jau-Ching Lu, Shao-Fan Wang, and Pei-Chun Lin, Design of a Leg-Wheel Hybrid Mobile Platform, in IROS, International Conference on Intelligent Robots and Systems. IEEE/RSJ. 2009. p. 4682 - 4687.
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AR, Autonomous Robots, 2005. 18(137 - 156). 29. Vu, Q.-H., B.-S. Kim, and J.-B. Song, Autonomous Stair Climbing Algorithm for a Small Four-Tracked Robot, in ICCAS, International Conference on Control, Automation and Systems. IEEE. 2008. p. 2356 - 2360. 30. Ben-Tzvi, P., S. Ito, and A.A. Goldenberg, Autonomous Stair Climbing with Reconfigurable Tracked Mobile Robot, in ROSE, International Workshop on Robotic and Sensors Environments. IEEE. 2007. p. 1 - 6. 31. Yool, K.H., et al., Swarm Robotics: Self Assembly, Physical Configuration, and Its Control, in IJC, International Joint Conference. SICE-ICASE/IEEE. 2006. p. 4276 - 4279. 32. iRobot. Available from: www.irobot.com. 33. Hashimoto, J., et al., Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion, in ICRA, International Conference on Robotics and Automation. IEEE. 2005. p. 2970 - 2975. 34. Y. Ota, K.Y., T. Tamaki, and S. Hirose, A Walking and Wheeled Hybrid Locomotion With Twin-frame Structure Robot, in IROS, International Conference on Intelligent Robots and Systems. IEEE/RSJ. 2002. p. 2645 - 2651. 35. Boxerbaum, A.S., et al., Design of an Autonomous Amphibious Robot for Surf Zone Operation: Part I Mechanical Design for Multi-Mode Mobility, in AIM, International Conference on Advanced Intelligent Mechatronics Monterey. IEEE/ASME. 2005. p. 1459 - 1464. 36. Theeravithayangkura, C., et al., Stair Recognition with Laser Range Scanning by Limb Mechanism Robot “ASTERISK”, in ROBIO, International Conference on Robotics and Biomimetics. IEEE. 2008. p. 915 - 920. 37. Uluc. Saranli, M.B., Daniel E. Koditschek, RHex: A Simple and Highly Mobile Hexapod Robot. IJRR, International Journal of Robotics Research, 2001. 20: p. 616 - 631. 38. Moore, E.Z. and M. Buehler, Stable Stair Climbing in a Simple Hexapod Robot, in ICCWR. 2001. 39. E. Z. Moore, D.C., F. Grimminger, and M. Buehler, Reliable Stair Climbing in the Simple Hexapod ‘RHex’, in ICRA, International Conference on Robotics and Automation. IEEE. 2002. p. 2222 - 2227. 40. Campbell, D. and M. Buehler, Stair Descent in the Simple Hexapod ‘RHex’, in ICRA, International Conference on Robotics and Automation. IEEE. 2003. p. 1380 - 1385. 41. Yuan, J. and S. Hirose, Research on Leg-wheel Hybrid Stair Climbing Robot, Zero Carrier, in ROBIO, International Conference on Robotics and Biomimetics. IEEE. 2004. p. 654 - 659. 42. Takita, Y., N. Shimoi, and H. Date, Development of a Wheeled Mobile Robot Octal Wheel Realized Climbing Up and Down Stairs, in IROS, International Conference on Intelligent Robots and Systems. IEEE/RSJ. 2004. p. 2440 - 2445. 43. Pongas, D., M. Mistry, and S. Schaal, A Robust Quadruped Walking Gait for Traversing Rough Terrain, in ICRA, International Conference on Robotics and Automation. IEEE. 2007. p. 1474 - 1479. 44. Rebula, J.R., et al., A Controller for the LittleDog Quadruped Walking on Rough Terrain, in ICRA, International Conference on Robotics and Automation. IEEE. 2007. p. 1467 - 1473. 45. Stolle, M., et al., Transfer of Policies Based on Trajectory Libraries, in IROS, International Conference on Intelligent Robots and Systems. IEEE/RSJ. 2007. p. 2981 - 2986. 46. Kolter, J.Z., M.P. Rodgers, and A.Y. Ng, A Control Architecture for Quadruped Locomotion Over Rough Terrain, in ICRA, International Conference on Robotics and Automation. IEEE. 2008. p. 811 - 818. 47. Cuzzillo, E., C.G. Atkeson, and M. Zucker, Designing Dynamic Actions for a Position Controlled Legged Robot, in ICRA, International Conference on Robotics and Automation. IEEE. 2009. 48. Tantichattanont, P., S. Songschon, and S. Laksanacharoen, Quasi-static Analysis of a Leg-wheel Hybrid Vehicle for Enhancing Stair Climbing Ability, in ROBIO, International Conference on Robotics and Biomimetics. IEEE. 2007. p. 1601 - 1605. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/45061 | - |
| dc.description.abstract | 在四足機器人家族的各類移動行為中，本論文針對樓梯爬升的能力發展出通用性廣的演算法。在半靜態穩定的前提下，演算法的內容包括了軌跡規劃以及四足協調。論文全文主要可分為兩個部分，分別介紹了四足機器人平台以不同的幾何形狀運動媒介來探討樓梯爬升的特性：直型腳和半圓腳。第一部份根據腳形狀的和樓梯之間幾何關係，來發展直型腳的基礎演算法。接著討論同時考慮兩腳和四腳的協調，最後以電腦模擬並且透過戶外環境的真實樓梯實測驗證。除此之外，針對爬行存在幾何誤差之真實樓梯的半靜態穩定度去修正機器人姿態，也在論文中報告。論文的第二部分，介紹了以半圓腳為運動媒介去發展出的演算法細節，並最後以模擬驗證。基於幾何形狀的差異而造成運動模式的不同，其內容和直型腳的討論有著不小的出入。透過探討過兩種不同類型的運動媒介，分別為基本的直型腳和進階的半圓腳，則幾乎可推廣至不同D.O.F.及各種自由度型態的其他運動媒介，驗證了此篇論文機器人爬升樓梯軌跡規劃的泛用性。 | zh_TW |
| dc.description.abstract | We report on the general algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot. Under such conditions, analysis of two different locomotion media is introduced in this thesis. First, we report on quadruped with straight legs. The detailed development is based on the geometrical interactions between robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. Finally, the algorithm is evaluated in the simulation environment with curvature smoothening discussion and experimented under outdoor stair field. In addition, a brief study on the static stability of the robot while climbing as well as an investigation of posture adjustment due to stair geometrical variation is also reported. On the second part of thesis, we analyze algorithm for quadruped with semi-circle legs, and then verified in simulation. Due to difference in geometric shape, this causes a big distinct between semi-circle leg and straight leg in locomotion behavior. Through discussion in these two different locomotion media, the general case: straight leg and the advanced case: semi-circle leg separately, we can generalize almost all other cases with different D.O.F. and joint types, which confirms the generosity of trajectory planning for stair climbing in quadruped robots family in this thesis. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T04:03:01Z (GMT). No. of bitstreams: 1 ntu-99-R96522822-1.pdf: 3052682 bytes, checksum: a878b0e0ce442a37f8c6390ce9dbad99 (MD5) Previous issue date: 2010 | en |
| dc.description.tableofcontents | 誌謝 I
中 文 摘 要 II 英 文 摘 要 III 圖 目 錄 VI 表 目 錄 IX 第一章 緒論 1 1.1 前言 1 1.2 研究動機與目的 1 1.3 文獻回顧 2 1.4 研究貢獻與論文架構 5 第二章 直型腳之運動軌跡規劃 7 2.1 情境假設與參數設定 7 2.3 單足數值分析 11 2.4 前或後軸兩共軸腳的協調 13 2.5 四足之間的協調 14 2.6 馬達輸出曲線設計和模擬 26 第三章 誤差分析與錯誤校正 36 3.1 側傾分析 36 3.2 誤差適應與軌跡校正 39 第四章 直型腳的實驗結果 46 4.1 實驗測試平台：QUATTROPED 46 4.2 實驗結果與數據分析 49 第五章 半圓腳之運動軌跡規劃 56 5.1 半圓腳 56 5.2 半圓腳幾何分析 58 5.3 半圓腳幾何分析 64 5.4 半圓腳多足討論 70 5.5 半圓腳的幾何限制 78 5.6 換階時序 82 5.7 半圓腳的模擬 84 第六章 結論與未來展望 87 參 考 文 獻 i | |
| dc.language.iso | zh-TW | |
| dc.subject | 足間協調 | zh_TW |
| dc.subject | 四足機器人 | zh_TW |
| dc.subject | 樓梯爬升 | zh_TW |
| dc.subject | 演算法 | zh_TW |
| dc.subject | 軌跡規劃 | zh_TW |
| dc.subject | legs coordination | en |
| dc.subject | quadruped | en |
| dc.subject | stair climbing | en |
| dc.subject | algorithm | en |
| dc.subject | trajectory planning | en |
| dc.title | 四足機器人穩定爬升樓梯步態之軌跡規劃 | zh_TW |
| dc.title | Trajectory Planning and Four Legs Coordination for Stair Climbing in a Quadruped Robot | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 98-1 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 黃光裕(Kuang-Yuh Huang),康仕仲(Shih-Chung Kang) | |
| dc.subject.keyword | 四足機器人,樓梯爬升,演算法,軌跡規劃,足間協調, | zh_TW |
| dc.subject.keyword | quadruped,stair climbing,algorithm,trajectory planning,legs coordination, | en |
| dc.relation.page | 88 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2010-02-11 | |
| 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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| ntu-99-1.pdf 未授權公開取用 | 2.98 MB | Adobe PDF |
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