請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/49971
完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 羅仁權(Ren C. Luo) | |
dc.contributor.author | Kuan-Chih Lee | en |
dc.contributor.author | 李冠志 | zh_TW |
dc.date.accessioned | 2021-06-15T12:27:00Z | - |
dc.date.available | 2017-01-01 | |
dc.date.copyright | 2016-08-24 | |
dc.date.issued | 2016 | |
dc.date.submitted | 2016-08-09 | |
dc.identifier.citation | [1] S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa, “The 3D Linear Inverted Pendulum Mode: A Simple Modeling for a Biped Walking Pattern Generation,” in Proc. IEEE Int. Conf. Intell. Robots. Syst., 2001, pp. 239-246.
[2] T. Sato, S. Sakaino, and K.Ohnishi, “Real-Time Walking Trajectory Generation Method With Three-Mass Models at Constant Body Height for Three-Dimentional Biped Robots,” IEEE Trans. Ind. Electronics, vol. 58, no. 2, pp. 376-383, Feb. 2011. [3] S. H. Collins, Steven H., Peter G. Adamczyk, and Arthur D. Kuo., “Dynamic Arm Swinging in Human Walking,” Proceeding of the Royal Society of London B: Biological Science, 2009. [4] S. Kajita et al., 'Resolved Momentum Control: Humanoid Motion Planning Based on the Linear and Angular Momentum.' in Proc. IEEE Int. Conf. Intell. Robots. Syst., 2003, pp. 1644-1650. [5] T. Takenaka, T. Matsumoto and T. Yoshiike, 'Real Time Motion Generation and Control for Biped Robot -1 st Report: Walking Gait Pattern Generation-,' in Proc. IEEE Int. Conf. Intell. Robots. Syst., 2009, pp. 1084-1091. [6] T. Takenaka, T. Matsumoto and T. Yoshiike, 'Real Time Motion Generation and Control for Biped Robot -2 nd Report: Running Gait Pattern Generation-,' in Proc. IEEE Int. Conf. Intell. Robots. Syst., 2009, pp. 1092-1099. [7] 'WABIAN Research Review,' http://www.takanishi.mech.waseda.ac.jp/top/research/wabian/previous_reserch/previous_research.htm [8] 'WABIAN-2R,' http://www.takanishi.mech.waseda.ac.jp/top/research/wabian/index.htm [9] 'ASIMO,' http://en.wikipedia.org/wiki/ASIMO [10] M. Vukobratovic and J. Stepanenko, “On the stability of anthropomorphic system,” Math. Biosci., vol. 15, no.1/2, pp.1-37, Oct. 1972. [11] 'Denavit–Hartenberg parameters,' https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters [12] S. Shimmyo, T. Sato, and K. Ohnishi, “Biped Walking Pattern Generation by Using Preview Control Based on Three-Mass Model,” IEEE Trans. Ind. Electronics, vol. 60, no. 11, pp. 5137-5147, Nov.2013. [13] H. Hemami, 'Reduced order models for biped locomotion,' IEEE Trans. Systems Man Cybernetics, pp.321-351, 1978. [14] Q. Huang, K. Yokoi, S. Kajita et al., 'Planning Walking Patterns for a Biped Robot,' IEEE Trans. on Robotics and Automation, vol. 17, no. 32, pp. 280-289, 2001. [15] S. Shimmyo, T. Sato, and K. Ohnishi, 'Biped Walking Pattern Generation by Using Preview Control Based on Three-Mass Model,' IEEE Trans. Ind. Electronics, vol. 60, no. 11, pp. 5137-5147, 2013. [16] T. Sato, S. Sakaino, and K. Ohnishi, 'Real-Time Walking Trajectory Generation Method at Constant Body Height in Single Support Phase for Three-Dimensional Biped Robot, in Proc. IEEE Int. Conf. Ind. Tech., 2009, pp. 1-6. [17] R. C. Luo, P. H. Chang, J. Sheng, S. C. Gu, C. H. Chen, 'Arbitrary Biped Robot Foot Gaiting Based on Variate COM Height,” in Proc. IEEE/RAS Int. Conf. Humanoid Robots, 2013, pp. 534-539. [18] M. Sobajima, T. Kobyashi, K. Sekiyama and T. Fukuda, “Bipedal Walking Control of Humanoid Robots by Arm-Swing,” in Proc. IEEE Int. Conf. SICE Annual Conf., 2013, pp. 313-318. [19] J. Park, 'Synthesis of natural arm swing motion in human bipedal walking.' Journal of Biomechanics, vol. 41(7), pp. 1417-1426, 2008. [20] B. Vanderborght, 'Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness,' Ph.D. Dissertation, Vrije Universiteit Brussel, 2007. [21] Tohru Katayama, Takahira Ohki, Toshio Inoue & Tomoyuki Kato, 'Design of an Optimal Controller for a Discrete-Time System Subject to Previewable Demand,' Journal of Control, vol. 41, issue 3, 1985. [22] M. Morisawa, F. Kanehiro, K. Kaneko, S. Kajita and K. Yokoi, “Humanoid-Reactive Biped Walking Control for a Collision of a Swinging Foot on Uneven Terrain,” in Proc. IEEE/RAS Int. Conf. Humanoid Robots, 2011, pp. 768-773. [23] OpenCV Tutorial for Template Matcing: http://docs.opencv.org/2.4/doc/tutorials/imgproc/histograms/template_matching/template_matching.html [24] R. Featherstone and D. Orin, 'Robot Dynamics: Equations and Algorithms,' in Proc. IEEE Int. Conf. Robotics and Automation, 2000, pp. 826-834. [25] R. C. Luo, P. H. Chang, J. Sheng, S. C. Gu, C. H. Chen, “Arbitrary biped robot foot gaiting based on variate COM height,” in Proc. IEEE/RAS Int. Conf. Humanoid Robots, 2013, pp. 534-539. [26] Ren C. Luo, Chien A. Chen and Anne Spalanzani, “Effective Online Trajectory Generation of Waist And Arm for Enhancing Humanoid Robot Walking,” in Proc. IEEE Int. Symposium on Ind. Electronics, 2016. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/49971 | - |
dc.description.abstract | 在現代,機器人在我們生活中扮演著重要的角色,並且逐漸成為我們生活的一部分。在機器人的發展中,過去仰賴著舊式的輪型機器人,但其往往受限於環境的複雜性與工作的難易度,但隨著雙足機器人研究的興起、電腦科學的進步與硬體上的升級,人形機器人的出現與其具備之處理複雜工作、人機協力之能力,人形機器人在機器人領域中扮演著重要的角色。
為了使其可工作於這類環境,人形機器人的行走穩定性至關重要;在這領域中,我們常以零力矩點理論為判斷機器人是否處於穩定狀態的根據,如果零力矩點位於由腳底板畫出之安全範圍外,則判斷機器人可能會跌倒或不穩定平衡。 在過去,倒單擺模型提出將所有的質量集中於一質心點。而為了減少倒單擺模型之誤差,便有了更複雜的三質心模型和多質心模型的研究產生。除此之外,因忽略了轉動慣量與線性慣量之影響,倒單擺模型無法精確表示動態模型之系統,因此有將倒單擺模型改進之飛輪模型,其概念為將倒單擺模型的質心替換為一個有質量可旋轉的飛輪,以表示實驗上轉動慣量之影響。為了進一步提高模型的準確性與應用於人形機器人上,我們結合了三質心模型和角動量守恆系統,並提出了一個更精確更實用的五質心與角動量模型。該模型不僅考慮手部運動軌跡,也考慮了因兩腳行走所產生之轉動慣量對雙足行走的影響。換句話說,此模型以平衡腳部轉動慣量為出發點,以設計手部運動姿態。 因此,基於零力矩點理論,在本篇論文中提出一系列簡化多軸數系統之模型。為了驗證五質心與角動量模型之優點,我們採用了不同難度之步態規劃,其包含:踢腳、一般行走、突然變化行距之行走、曲線行走,和加入腰部軌跡之動作等。總結五質心與角動量模型之軌跡產生器,其特點在於結合,以五質心模型簡化多自由度之系統,並考慮過去質心模型多所忽略的轉動慣量對於動態系統之影響,最後以上半身(包含手部與軀幹)之運動來補償下半身所造成轉動慣量。 | zh_TW |
dc.description.abstract | Robotics field have been a glowing research topics. Many conventional mobile robots are designed as wheeled type that are limited to the simple work and environment. But, as the mechanism and computer science are improved, humanoid robots are capable of handling more complicated works and co-work with human.
To make sure the robot works well in that environment, walking stability plays an important role for this issue. The zero moment point (ZMP) theory has been proposed for determining whether robots fall down or not, i.e. stable or not. If the ZMP is outside of the footprint polygon, the bipedal robots might fall down or unstable. Linear inverted pendulum model (LIPM), regarded as the one-mass model, simplifies whole masses as a mass point. In order to reduce modeling errors LIPM has been implemented, and the three-mass model and multiple-mass inverted pendulum model (MMIPM) are developed. In addition to these researches, to reduce the error caused by the rational momentum and limited linear momentum, improved model with a flywheel showing embodiment of the centroid moment of inertia replaces single LIPM. To improve the accuracy of model and coherence to our mechanism, we further propose the five-mass with angular momentum model that combines the three-mass model and law of conservation of angular momentum. The proposed model not only considers the effect of rotational momentum, but also takes arm movements into account. In other words, as we design the leg motion, the balance of the moment of momentum through two arm motion is estimated in a meantime. Therefore, the research tends to simplify the high degrees-of-freedom actuator system to a simple model based on the ZMP theory mentioned in this thesis. To examine the performance of the proposed model, we further design different levels of motions. In this thesis, we have different motions, such as kicking, straight path walking, sudden changes of stride length, arbitrary curved path walking, and patterns with different waist height, etc. In summary, an effective walking pattern generator based on the five-mass with angular momentum model is proposed. The proposed model consists of two parts: the five-mass model simplified from a high degrees-of-freedom actuator system, and the balance of the rotational momentum while was not taken into consideration in previous researches. We utilize upper limbs, including arms and the trunk, to counterbalance the rotational momentum caused by lower limbs. The balanced motion is effective to reduce the modeling errors, and improves the ZMP tracking performance. | en |
dc.description.provenance | Made available in DSpace on 2021-06-15T12:27:00Z (GMT). No. of bitstreams: 1 ntu-105-R03921007-1.pdf: 4446863 bytes, checksum: 39064ff8c5604629de9366bf816aef71 (MD5) Previous issue date: 2016 | en |
dc.description.tableofcontents | 致謝 I
中文摘要 III ABSTRACT IV TABLE OF CONTENTS VI LIST OF FIGURES VIII LIST OF TABLES X CHAPTER 1 INTRODUCTION 1 1.1 MOTIVATION AND OBJECTIVE 1 1.2 STATE OF THE ART 2 1.2.1 WABIAN 2 1.2.2 ASIMO 3 1.3 LITERATURE REVIEW 5 1.3.1 Zero Moment Point 5 1.4 THESIS ORGANIZATION 6 CHAPTER 2 SYSTEM STRUCTURE 8 2.1 HARDWARE STRUCTURE 8 2.2 SOFTWARE STRUCTURE 16 2.3 ROBOT COORDINATE SYSTEM 22 2.3.1 Forward Kinematics Analysis 22 2.3.2 Inverse Kinematics Analysis 25 CHAPTER 3 MODELS FOR BIPEDAL ROBOT 30 3.1.1 One Mass Model 31 3.1.2 Three Mass Model 32 3.1.3 Multi-Mass Model 33 3.2 PROPOSED MODEL 35 3.2.1 Five-Mass with Angular Momentum Model 35 3.2.2 Law of Conservation of Angular Momentum 39 3.3 DESIGNS FOR UPPER AND LOWER BODY 41 3.3.1 Waist Trajectory Generator 41 3.3.2 Swing Arm Motion Based on Lower Limbs 43 3.4 ADVANCED PREVIEW CONTROL 45 CHAPTER 4 WALKING PATTERN GENERATOR 47 4.1 LOCOMOTION AND TRAJECTORY 47 4.1.1 Straight Path Walking Pattern 47 4.1.2 Arbitrary Curved Path Walking Pattern 49 4.1.3 Patterns with Waist Joints 51 4.2 WALKING PATTERN COMPENSATOR 53 CHAPTER 5 DYNAMICS & CONTROL ALGORITHM 55 5.1 DYNAMIC CONTROLLER 55 5.1.1 PID Controller 56 5.1.2 Gravity Compensation 57 5.2 ZMP CONTROLLER 58 CHAPTER 6 SIMULATION AND EXPERIMENTS 59 6.1 SIMULATION RESULTS 59 6.2 EXPERIMENTAL RESULTS 63 6.2.1 Momentum Balance 63 6.2.2 Impact Force 66 6.2.3 Walking Experiments 68 CHAPTER 7 CONCLUSION, CONTRIBUTION AND FUTURE WORKS 78 7.1 CONCLUSION AND CONTRIBUTION 78 7.2 FUTURE WORKS 79 REFERENCES 81 VITA 84 | |
dc.language.iso | en | |
dc.title | 基於五質心與角動量模型之人形機器人應用於多步態變化規劃與平衡 | zh_TW |
dc.title | Various Gaiting Encounters and Counterbalance for a Humanoid Robot Based on Five-Mass with Angular Momentum Model | en |
dc.type | Thesis | |
dc.date.schoolyear | 104-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 陽毅平(Yee-Pien Yang),康仕仲(Shih-Chung Kang) | |
dc.subject.keyword | 人形機器人,模型,軌跡產生器,步態規劃, | zh_TW |
dc.subject.keyword | humanoid robot,modeling,walking pattern generator,locomotion, | en |
dc.relation.page | 84 | |
dc.identifier.doi | 10.6342/NTU201602001 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2016-08-10 | |
dc.contributor.author-college | 電機資訊學院 | zh_TW |
dc.contributor.author-dept | 電機工程學研究所 | zh_TW |
顯示於系所單位: | 電機工程學系 |
文件中的檔案:
檔案 | 大小 | 格式 | |
---|---|---|---|
ntu-105-1.pdf 目前未授權公開取用 | 4.34 MB | Adobe PDF |
系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。