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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 黃漢邦 | |
dc.contributor.author | Yen-Lin Chen | en |
dc.contributor.author | 陳彥霖 | zh_TW |
dc.date.accessioned | 2021-06-15T04:45:24Z | - |
dc.date.available | 2013-09-01 | |
dc.date.copyright | 2011-08-22 | |
dc.date.issued | 2011 | |
dc.date.submitted | 2011-08-18 | |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/45742 | - |
dc.description.abstract | 本文旨在建立一個簡化的雙足機器人模型。並利用此模型去描述有關機器人重心在垂直方向的運動。為了簡化控制系統,我們必須加上一些動態和幾何上限制以期能夠更簡單的控制此系統。本文針對雙足機器人的各種步態和不同步態間的過渡步態加以分析,藉此資訊可以有效的規劃機器人的軌跡。此外,機器人重心高度在步態變換時,是隨時改變的。換言之,可變重心高度的雙足機器人是一種時變系統。本文,利用最佳控制來控制雙足機器人系統,並估測系統的未來狀態。在某些情況下壓力中心(COP)和零力矩點(ZMP)並不相同。因此,須用一個權重來調整回饋回來的ZMP值,以期控制器能更快速的補償不穩定的系統。除此之外,也使用阻抗控制和規劃降落的軌跡,以有效改善降落所產生的衝擊。
模擬和驗證所提方法確可控制機器人達成重心高度改變的步態和跳躍。 | zh_TW |
dc.description.abstract | The central theme of this thesis is the construction of a simplified biped robot model with the ability to generate arbitrary vertical movement of its center of gravity (COG). We have designed constraints to make the robot’s dynamics and kinematics as simple as possible, and we analyze and derive the equations for controlling the robot well. We also discuss the different phases of motion and the transition phases between them, so that we have sufficient information to control the robot and plan its trajectory efficiently..
A biped robot with variable COG height is a time varying system. The optimal control is employed for the control of the system, and the system, states will be estimated. At those points in the movement cycle when the center of pressure (COP) is predicted not to coincide with the zero moment point (ZMP), a weighting function is applied in order to rapidly compensate for the incipient imbalance. In addition, compliance control and landing planning are considered to reduce the landing impact. The simulations of walking with varying COG height and hopping are conducted to verify the proposed algorithm. | en |
dc.description.provenance | Made available in DSpace on 2021-06-15T04:45:24Z (GMT). No. of bitstreams: 1 ntu-100-R98522830-1.pdf: 1962075 bytes, checksum: 9cf1c2b3d445469229be215b4e21cf00 (MD5) Previous issue date: 2011 | en |
dc.description.tableofcontents | 誌謝 i
摘要 ii Abstract iii List of Tables vii List of Figures viii Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Related Works 3 1.2.1 Biped Robots 4 1.3 Thesis Organization 5 1.4 Contributions 6 Chapter 2 Kinematics of RoboticsEquation Section 2 System and Preview Control 7 2.1 Forward Kinematics 8 2.2 Inverse Kinematics 8 2.2.1 Jacobian of End-effector and COG 9 2.2.2 Singularity Avoidance 12 2.2.3 WLS: Joint Limitation Avoidance 13 2.3 Momentum Compensation 15 2.3.1 Momentum on the Foot of Fixed Leg 16 2.3.2 Inverse Kinematics with the Momentum Jacobian 18 2.4 The ZMP and COP 20 Chapter 3 Modeling of Biped RobotsEquation Section 3 22 3.1 Introduction 22 3.2 The Model of Biped Robots 26 3.2.1 Single Support Phase (SSP) 28 3.2.2 Double Support Phase (DSP) 30 3.2.3 Flight Phase (FP) 31 3.2.4 Phase Transitions 32 3.3 Summary 35 Chapter 4 Walking with Varying Height Equation Section 4 36 4.1 Introduction 36 4.2 Variable COG Height—Planning and Controlling the Walk 37 4.2.1 Control of the Biped Robot 41 4.2.2 Predictions of System Parameters 44 4.3 Weighting of ZMP Feedback 47 4.4 Summary 49 Chapter 5 Planning for Hopping MotionEquation Section 5 50 5.1 Introduction 50 5.2 Hopping motion 51 5.3 Impact of Landing 53 5.4 Compliance Control 55 5.5 Summary 57 Chapter 6 Simulations 58 6.1 Environment of Simulations 58 6.2 Simulation Results 60 6.2.1 Walking with Varying Height of COG 60 6.2.2 Jumping 63 Chapter 7 Conclusions and Future Works 66 7.1 Conclusions 66 7.2 Future Works 66 References 68 | |
dc.language.iso | en | |
dc.title | 雙足機器人之系統動態建立與步態分析 | zh_TW |
dc.title | Modeling of a Biped Robot and Gait Analysis | en |
dc.type | Thesis | |
dc.date.schoolyear | 99-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 李祖添,施慶隆 | |
dc.subject.keyword | 雙足機器人,跳躍,降落的衝擊,最佳化控制,步態分析,雙足模型, | zh_TW |
dc.subject.keyword | Biped robot,hopping,landing impact,optimal control,gait analysis,biped model, | en |
dc.relation.page | 73 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2011-08-18 | |
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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