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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 羅仁權(Ren C. Luo) | |
| dc.contributor.author | Chao-Wen Huang | en |
| dc.contributor.author | 黃照文 | zh_TW |
| dc.date.accessioned | 2021-06-15T13:37:01Z | - |
| dc.date.available | 2016-02-16 | |
| dc.date.copyright | 2016-02-16 | |
| dc.date.issued | 2016 | |
| dc.date.submitted | 2016-01-26 | |
| dc.identifier.citation | [1] M. Vukobratović and B. Borovac, 'Zero-moment point—thirty five years of its life,' International Journal of Humanoid Robotics, vol. 1, pp. 157-173, 2004.
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Rawlings, 'Model predictive control with linear models,' AIChE Journal, vol. 39, pp. 262-287, 1993. [7] D. Dimitrov, P.-B. Wieber, H. J. Ferreau, and M. Diehl, 'On the implementation of model predictive control for on-line walking pattern generation,' in Robotics and Au-tomation, 2008. ICRA 2008. IEEE International Conference on, 2008, pp. 2685-2690. [8] S. Hong, Y. Oh, D. Kim, and B. J. You, 'A walking pattern generation method with feedback and feedforward control for humanoid robots,' in Intelligent Robots and Sys-tems, 2009. IROS 2009. IEEE/RSJ International Conference on, 2009, pp. 1078-1083. [9] T. Sato, S. Sakaino, and K. Ohnishi, 'Real-time walking trajectory generation method with three-mass models at constant body height for three-dimensional biped robots,' Industrial Electronics, IEEE Transactions on, vol. 58, pp. 376-383, 2011. [10] P.-B. Wieber, 'Trajectory free linear model predictive control for stable walking in the presence of strong perturbations,' in Humanoid Robots, 2006 6th IEEE-RAS Inter-national Conference on, 2006, pp. 137-142. [11] S. Hong, Y. Oh, D. Kim, and B.-J. You, 'Real-time walking pattern generation method for humanoid robots by combining feedback and feedforward controller,' In-dustrial Electronics, IEEE Transactions on, vol. 61, pp. 355-364, 2014. [12] J. Englsberger, C. Ott, M. Roa, A. Albu-Schäffer, and G. Hirzinger, 'Bipedal walk-ing control based on capture point dynamics,' in Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, 2011, pp. 4420-4427. [13] H. Diedam, D. Dimitrov, P.-B. Wieber, K. Mombaur, and M. Diehl, 'Online walking gait generation with adaptive foot positioning through linear model predictive control,' in Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on, 2008, pp. 1121-1126. [14] B. J. Stephens and C. G. Atkeson, 'Push recovery by stepping for humanoid robots with force controlled joints,' in Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on, 2010, pp. 52-59. [15] B. Stephens, 'Humanoid push recovery,' in Humanoid Robots, 2007 7th IEEE-RAS International Conference on, 2007, pp. 589-595. [16] B. Stephens, 'Integral control of humanoid balance,' in Intelligent Robots and Sys-tems, 2007. IROS 2007. IEEE/RSJ International Conference on, 2007, pp. 4020-4027. [17] J. Pratt, J. Carff, S. Drakunov, and A. Goswami, 'Capture point: A step toward hu-manoid push recovery,' in Humanoid Robots, 2006 6th IEEE-RAS International Con-ference on, 2006, pp. 200-207. [18] J. Rebula, F. Canas, J. Pratt, and A. Goswami, 'Learning capture points for human-oid push recovery,' in Humanoid Robots, 2007 7th IEEE-RAS International Conference on, 2007, pp. 65-72. [19] J. R. Rebula, F. Canas, J. E. Pratt, and A. Goswami, 'Learning capture points for bipedal push recovery,' in Robotics and Automation, 2008. ICRA 2008. IEEE Interna-tional Conference on, 2008, pp. 1774-1774. [20] F. Parietti and H. Geyer, 'Reactive balance control in walking based on a bipedal linear inverted pendulum model,' in Robotics and Automation (ICRA), 2011 IEEE In-ternational Conference on, 2011, pp. 5442-5447. [21] A. K. Sanyal and A. Goswami, 'Dynamics and Balance Control of the Reaction Mass Pendulum: A Three-Dimensional Multibody Pendulum With Variable Body Iner-tia,' Journal of Dynamic Systems, Measurement, and Control, vol. 136, p. 021002, 2014. [22] C. Doppmann, B. Ugurlu, M. Hamaya, T. Teramae, T. Noda, and J. Morimoto, 'Towards balance recovery control for lower body exoskeleton robots with Variable Stiffness Actuators: Spring-loaded flywheel model,' in Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015, pp. 5551-5556. [23] R. C. Luo, J. Sheng, C.-C. Chen, P.-H. Chang, and C.-I. Lin, 'Biped robot push and recovery using flywheel model based walking perturbation counteraction,' in Humanoid Robots (Humanoids), 2013 13th IEEE-RAS International Conference on, 2013, pp. 50-55. [24] S.-H. Hyon, J. G. Hale, and G. Cheng, 'Full-body compliant human–humanoid in-teraction: balancing in the presence of unknown external forces,' Robotics, IEEE Transactions on, vol. 23, pp. 884-898, 2007. [25] D. C. Bentivegna, C. G. Atkeson, and J. Y. Kim, 'Compliant control of a hydraulic humanoid joint,' Robotics Institute, p. 68, 2007. [26] B. J. Stephens and C. G. Atkeson, 'Dynamic balance force control for compliant humanoid robots,' in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ Interna-tional Conference on, 2010, pp. 1248-1255. [27] Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, and K. Fujimura, 'The intelligent ASIMO: System overview and integration,' in Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on, 2002, pp. 2478-2483. [28] HONDA ASIMO is available at http://world.honda.com/index.html [29] History of Waseda robots is available at http://rsta.royalsocietypublishing.org/content/365/1850/49 [30] Y. Ogura, H. Aikawa, K. Shimomura, A. Morishima, H.-o. Lim, and A. Takanishi, 'Development of a new humanoid robot WABIAN-2,' in Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, 2006, pp. 76-81. [31] Takanishi Lab is available at http://www.takanishi.mech.waseda.ac.jp/top/research/wabian/ [32] I.-W. Park, J.-Y. Kim, J. Lee, and J.-H. Oh, 'Mechanical design of humanoid robot platform KHR-3 (KAIST humanoid robot 3: HUBO),' in Humanoid Robots, 2005 5th IEEE-RAS International Conference on, 2005, pp. 321-326. [33] J.-H. Oh, D. Hanson, W.-S. Kim, I. Y. Han, J.-Y. Kim, and I.-W. Park, 'Design of android type humanoid robot Albert HUBO,' in Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, 2006, pp. 1428-1433. [34] DRC-HUBO is available at http://www.theroboticschallenge.org/finalist/kaist [35] DRC-HUBO is available at http://spectrum.ieee.org/automaton/robotics/humanoids/how-kaist-drc-hubo-won-darpa-robotics-challenge [36] Atlas is available at http://www.bostondynamics.com/robot_Atlas.html [37] J. Englsberger, A. Werner, C. Ott, B. Henze, M. A. Roa, G. Garofalo, et al., 'Over-view of the torque-controlled humanoid robot TORO,' in IEEE-RAS International Con-ference on Humanoid Robots, 2014, pp. 916-923. [38] C. Ott, M. Roa, and G. Hirzinger, 'Posture and balance control for biped robots based on contact force optimization,' in Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on, 2011, pp. 26-33. [39] B. Henze, A. Werner, M. Roa, G. Garofalo, J. Englsberger, and C. Ott, 'Control applications of TORO—A Torque controlled humanoid robot,' in Humanoid Robots (Humanoids), 2014 14th IEEE-RAS International Conference on, 2014, pp. 841-841. [40] B. Henze, C. Ott, and M. Roa, 'Posture and balance control for humanoid robots in multi-contact scenarios based on Model Predictive Control,' in Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014, pp. 3253-3258. [41] TORO is available at http://www.dlr.de/rmc/rm/en/desktopdefault.aspx/tabid-6838/ [42] R. S. Hartenberg and J. Denavit, Kinematic synthesis of linkages: McGraw-Hill, 1964. [43] Maxon motor, encoder, and amplifier is available at http://www.maxonmotor.com.tw/maxon/view/content/index [44] Harmonic Drive is available at http://www.harmonicdrive.net/ [45] Nitta Corporation 6-axis Force/Torque sensor is available at http://www.nitta.co.jp/en/ [46] Xsens MTw Development Kit Lite is available at https://www.xsens.com/ [47] IntervalZero Windows RTX is available at http://www.intervalzero.com/ [48] IMP-2 is available at https://www.epcio.com.tw/product/IMP-2.aspx [49] PCI-bus Receiver Card is available at http://www.jr3.com/ [50] D. L. Peiper, 'The kinematics of manipulators under computer control,' DTIC Document1968. [51] 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 Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on, 2001, pp. 239-246. [52] S. Kajita, O. Matsumoto, and M. Saigo, 'Real-time 3D walking pattern generation for a biped robot with telescopic legs,' in Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, 2001, pp. 2299-2306. [53] M. Vukobratović and J. Stepanenko, 'On the stability of anthropomorphic sys-tems,' Mathematical biosciences, vol. 15, pp. 1-37, 1972. [54] H. Hemami, 'Reduced order models for biped locomotion,' IEEE Trans. On Sys-tems, Man and Cybernetics, vol. 8, pp. 321-325, 1978. [55] R. E. Kalman, 'A new approach to linear filtering and prediction problems,' Jour-nal of Fluids Engineering, vol. 82, pp. 35-45, 1960. [56] B. J. Stephens, 'State estimation for force-controlled humanoid balance using sim-ple models in the presence of modeling error,' in Robotics and Automation (ICRA), 2011 IEEE International Conference on, 2011, pp. 3994-3999. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/51513 | - |
| dc.description.abstract | 雙足和人型機器人在複雜的機器人系統中代表著最先進的技術。相較於輪型機器人，雙足式服務型機器人在人類生存的環境中有著高度的靈活性，能夠替人類提供服務。然而，雙足機器人研究領域的一個重大瓶頸在於考量靜態與動態的平衡。平衡的課題是必要的考量，才能夠順利地完成更進一步的應用。
即便在一個特別設計好的環境中，雙足機器人不可避免地會遭遇到外在環境的擾動。期望雙足機器人在不久的將來，能夠在日常生活的環境中替人類提供服務，因此，受到外力干擾後，如何回復平衡是一個必要探討的課題，這樣才能夠使雙足機器人在日常生活環境中，與人類的互動過程更加安全。 本研究旨在實現外力干擾回復系統，並且將此系統整合至雙足機器人行走的步態軌跡產生器模組中，使得雙足機器人能夠實現穩定的動態行走模式。此外，這個系統是基於雙足機器人的研究，來自於我們對人類的了解此一概念來建構而成。 在本研究中，我們成功地將擬人式的外力干擾回復系統實現在雙足機器人行走的步態軌跡產生器中，使得雙足機器人在行走過程中，面對意外發生地外力仍然能夠維持平衡。本研究包括雙足機器人理論的推導，並透過在國立臺灣大學智慧機器人及自動化國際研究中心實驗室研究發展中的雙足機器人，實際行走並受外力干擾後回復平衡，來驗證此外力干擾回復系統的實務性及可行性。期望本研究能夠在雙足機器人行走的外力干擾回復研究上提供學術及實務應用之貢獻。 | zh_TW |
| dc.description.abstract | The biped and humanoid robots represent the state of the art technology in complex robot systems. Biped walking robots have high flexibilities to serve as service robots
in comparison with the wheeled structure robots in human environments. However, one of the most important bottlenecks in the research field of the biped robots is the static balancing and dynamic balancing issues. Further applications cannot be successfully fulfilled without considering the balancing issues. In the hopes that the biped robots assist humans in everyday environments in the near future, it is inevitable for the biped robots to confront unexpected perturbations even though the environments are well structured. As a result, the push-recovery issue is a necessary research that must be investigated to interact safely with humans as well. The research objective of this thesis is to implement the push-recovery system to the walking pattern generation module for the biped walking robots to fulfill dynamic balancing walking. Furthermore, the push-recovery system is constructed based on the idea that the researches on biped and humanoid robots are mainly to implement the behaviors as far as we know about the human beings. In this research, we successfully implement the push-recovery system that mimics human motions to the walking pattern generator for balancing unexpected perturbations during walking process. The research consists of the theoretical derivations of biped robot system. Furthermore, practical possibilities and feasibilities of the push-recovery system are verified by push-recovery experiments on the biped robot developed in our NTU-iCeiRA laboratory. Hope that this research would contribute to the academic and practical applications in the field of biped robot push-recovery researches. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T13:37:01Z (GMT). No. of bitstreams: 1 ntu-105-R02921066-1.pdf: 5976690 bytes, checksum: 6af09303830776b39ae65dc9cd86806a (MD5) Previous issue date: 2016 | en |
| dc.description.tableofcontents | 口試委員會審定書 ........................................................................................................... #
誌謝 ....................................................................................................................................i 中文摘要 .......................................................................................................................... ii ABSTRACT ....................................................................................................................... iii TABLE OF CONTENTS ........................................................................................................ v LIST OF FIGURES ............................................................................................................ vii LIST OF TABLES ................................................................................................................ix CHAPTER 1 INTRODUCTION .......................................................................................... 1 1.1 MOTIVATION AND OBJECTIVES ......................................................................... 1 1.2 LITERATURE REVIEW ....................................................................................... 2 1.3 STATE OF THE ART HUMANOID ROBOTS ........................................................... 4 1.3.1 ASIMO .................................................................................................. 4 1.3.2 WABIAN ............................................................................................... 6 1.3.3 HUBO ................................................................................................... 7 1.3.4 ATLAS .................................................................................................. 8 1.3.5 TORO .................................................................................................... 9 1.4 THESIS ORGANIZATION .................................................................................. 10 CHAPTER 2 BIPED ROBOT .......................................................................................... 11 2.1 MECHANISM .................................................................................................. 11 2.1.1 ROBOT COORDINATE SYSTEM .............................................................. 12 2.1.2 TRANSMISSION AND ACTUATOR ........................................................... 16 2.2 SENSORS ........................................................................................................ 18 2.2.1 FORCE/TORQUE SENSOR ...................................................................... 18 2.2.2 INERTIA MEASUREMENT UNIT (IMU)................................................... 22 2.3 CONTROL ARCHITECTURE .............................................................................. 23 2.3.1 KINEMATICS ......................................................................................... 26 2.3.2 JOINT TORQUE CONTROL ..................................................................... 33 2.4 SOFTWARE ARCHITECTURE ............................................................................ 34 CHAPTER 3 WALKING PATTERN GENERATION .......................................................... 36 3.1 BIPED ROBOT MODELING .............................................................................. 37 3.1.1 ONE-MASS MODEL (LINEAR INVERTED PENDULUM MODEL) .............. 37 3.1.2 THREE-MASS MODEL ........................................................................... 39 3.1.3 MULTI-MASS MODEL ........................................................................... 43 3.1.4 LINEAR INVERTED PENDULUM PLUS FLYWHEEL MODEL ..................... 43 3.2 REFERENCE TRAJECTORY .............................................................................. 45 3.2.1 ZMP TRAJECTORY ............................................................................... 45 3.2.2 FOOT TRAJECTORY ............................................................................... 48 3.3 PREVIEW CONTROL WITH PUSH-RECOVERY SYSTEM ..................................... 50 3.3.1 PREVIEW CONTROL .............................................................................. 50 3.3.2 PUSH-RECOVERY CONTROL ................................................................. 54 CHAPTER 4 PUSH-RECOVERY SYSTEM ...................................................................... 61 4.1 HUMAN-LIKE MOTION .................................................................................. 61 4.1.1 ANALYSIS ............................................................................................. 61 4.1.2 CONCLUSION ........................................................................................ 63 4.2 SYSTEM ARCHITECTURE ................................................................................ 64 4.3 STRATEGY SELECTION ................................................................................... 66 4.4 TRAJECTORY DESIGN ..................................................................................... 67 4.4.1 TRUNK ................................................................................................. 67 4.4.2 SWING LEG .......................................................................................... 67 CHAPTER 5 CENTER OF MASS (COM) STATE CONTROL .......................................... 70 5.1 MOTIVATION .................................................................................................. 70 5.2 COM STATE ESTIMATION .............................................................................. 70 5.2.1 SYSTEM MODELING ............................................................................. 70 5.2.2 SENSOR MODELING .............................................................................. 72 5.2.3 COM KALMAN FILTER ......................................................................... 73 5.3 COM FEEDBACK CONTROL ........................................................................... 74 CHAPTER 6 EXPERIMENTAL RESULTS AND DISCUSSIONS .......................................... 76 6.1 SCENARIO ...................................................................................................... 76 6.2 STRAIGHT WALKING ...................................................................................... 77 6.3 WALKING PUSH RECOVERY ........................................................................... 80 6.3.1 INTEGRATED EXPERIMENT ................................................................... 80 6.3.2 INDIVIDUAL EXPERIMENT .................................................................... 83 6.3.3 DISCUSSIONS ........................................................................................ 92 CHAPTER 7 CONCLUSIONS AND FUTURE WORK ........................................................ 93 REFERENCE ..................................................................................................................... 95 VITA ............................................................................................................................... 101 | |
| dc.language.iso | en | |
| dc.subject | 靜態、動態平衡 | zh_TW |
| dc.subject | 雙足步行機器人 | zh_TW |
| dc.subject | 服務型機器人 | zh_TW |
| dc.subject | 外力干擾回復系統 | zh_TW |
| dc.subject | 步態軌跡產生器 | zh_TW |
| dc.subject | 雙足步行機器人 | zh_TW |
| dc.subject | 服務型機器人 | zh_TW |
| dc.subject | 靜態、動態平衡 | zh_TW |
| dc.subject | 外力干擾回復系統 | zh_TW |
| dc.subject | 步態軌跡產生器 | zh_TW |
| dc.subject | push-recovery system | en |
| dc.subject | static/dynamic balancing | en |
| dc.subject | walking pattern generator | en |
| dc.subject | biped walking robot | en |
| dc.subject | walking pattern generator | en |
| dc.subject | push-recovery system | en |
| dc.subject | static/dynamic balancing | en |
| dc.subject | service robot | en |
| dc.subject | biped walking robot | en |
| dc.subject | service robot | en |
| dc.title | 雙足機器人全方位平面外力干擾及回復系統 | zh_TW |
| dc.title | Biped Robot Omni Planar Direction Push and Recovery System | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 104-1 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 張帆人(Fan-Ren Chang),康仕仲(Shih-Chung Kang) | |
| dc.subject.keyword | 雙足步行機器人,服務型機器人,靜態、動態平衡,外力干擾回復系統,步態軌跡產生器, | zh_TW |
| dc.subject.keyword | biped walking robot,service robot,static/dynamic balancing,push-recovery system,walking pattern generator, | en |
| dc.relation.page | 101 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2016-01-27 | |
| 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 | |
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