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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/52156完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 林沛群(Pei-Chun Lin) | |
| dc.contributor.author | Tzu-Han Lin | en |
| dc.contributor.author | 林子涵 | zh_TW |
| dc.date.accessioned | 2021-06-15T16:08:46Z | - |
| dc.date.available | 2020-08-28 | |
| dc.date.copyright | 2015-08-28 | |
| dc.date.issued | 2015 | |
| dc.date.submitted | 2015-08-19 | |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/52156 | - |
| dc.description.abstract | 本論文致力於內嵌於六足機器人之多軸力感測器的開發，並提出不同的校正方式使得校正方法能夠更為貼近真實的情況。藉由修改力規校正時的固定方式，使真實機器人與地面之間的作用力傳遞到力感測器的方式和校正方式相同，如此力感測器量測到的資訊即為馬達輸出扭力、圓弧形腳對於身體產生的平行於運動方向以及重力方向的驅動力。此外，利用商用力規與自製力規進行訊號校正，並利用標準一公斤重物在靜態放置以及動態旋轉下對馬達框架的施力比較，以評估自製力感測器所量測到的資訊是否更接近真實情況。 原本在Two-leg Model下生成的動態步態軌跡由於真實機器人落地時的初始狀態與模型中的不同，造成動態步態的成功率無法很高，但在六足機器人身上整合了力感測器之後，能夠量測到多軸力與力矩來感知到機器人在環境中的狀態，並回饋到系統以修正機器人的步態軌跡，使其能夠在下一步開始的初始狀態與模型更為接近，藉此減少機器人產生非模型中的落地情況像是機身撞到地面，使得機器人能跑出更像模擬中的動態步態且成功率提高。 此外，可利用卡爾曼濾波器將IMU與傾斜儀整合為身體姿態，再加入力感測器獲得的軸向力資訊建立平面模型，可計算出機器人在運動時腳與地面的接觸位置，並以實驗的方式證實其可行性。 | zh_TW |
| dc.description.abstract | The purpose of this thesis is to develop a multi-axis force sensor that can be mounted into a hexapod robot, and propose a calibration method that is closer to realistic situation and use the force information obtained to develop a feedback control method to make the dynamic motion more stable. By revising the fixing method of the force sensor, the path of the force passing from ground to the force sensors is now the same as the calibration method. Through the comparison between self-made force sensor and commercial force sensor, and using a standard one-kilogram object to conduct both static and rotating experiment the accuracy of the force sensor is verified. When using the trajectories generated by two-leg model proposed in previous research the successful rate of achieving stable dynamic gaits is relatively low due to the difference of the initial condition between the model and realistic situation. With force sensors integrated, the force and torque information is fed back to adjust the robot trajectory. The feedback control changes the initial condition of the next step so that it is closer to the condition calculated with the model, and thus reduce the unexpected behavior such as robot body hitting the ground. The information obtained from IMU and clinometer is sent into Kalman filter to establish the body posture in space, and using the posture along with the force signal obtained from force sensor the surface model is developed. The contact point between the robot legs and ground can thus be known exactly. Experiments are conducted to verify the result. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T16:08:46Z (GMT). No. of bitstreams: 1 ntu-104-R02522815-1.pdf: 6318126 bytes, checksum: 13da145938d12c45826678920a3154aa (MD5) Previous issue date: 2015 | en |
| dc.description.tableofcontents | 誌謝 I 中文摘要 II Abstract III 目錄 IV 圖目錄 VII 表目錄 X 第一章 緒論 1 1.1 前言 1 1.2 研究動機 2 1.3 文獻回顧 2 1.4 貢獻 5 1.5 論文架構 5 第二章 實驗平台與相關原理 6 2.1 目前實驗平台 6 2.1.1 圓弧形腳 6 2.1.2 直流有刷馬達 7 2.1.3 機電系統 8 2.1.4感測器 9 2.2 相關原理介紹 10 2.2.1 訊號轉換 10 2.2.2 惠斯同電橋 11 2.2.3 RSLIP Model 12 2.3 應變計 13 第三章 力感測器之開發 15 3.1前言 15 3.2力感測器外型 15 3.3力規訊號校正 18 3.3.1 商用力規 18 3.3.2 校正矩陣 20 3.3.3 校正結果 20 3.3.4 雜訊處理 21 3.4標準重物實驗 23 3.4.1 新的校正方法 26 3.4.2 標準重物靜態實驗 29 3.4.2 標準重物動態實驗 33 第四章 力回饋控制與實驗 37 4.1前言 37 4.2踏點計算 37 4.2.1 踏點平面模型 37 4.2.2 開迴路慢跑步態踏點實驗 38 4.2.2.1 開迴路慢跑步態實驗流程 40 4.2.2.2 開迴路慢跑步態實驗結果 41 4.2.2.3 卡爾曼濾波器 42 4.2.2.4 加入身體姿態之踏點實驗 44 4.3動態步態力回饋控制 45 4.3.1 Two-leg Model 46 4.3.2 開迴路蹦跳步態 47 4.3.3 力回饋控制蹦跳步態 51 4.3.3.1 力回饋控制架構 51 4.3.3.2 軟體架構 52 4.3.3.3力回饋蹦跳實驗 52 4.3.3.4 動態擷取系統 53 4.3.3.4蹦跳步態實驗結果 55 第五章 結論與未來展望 58 5.1結論 58 5.2未來展望 58 參考文獻 60 | |
| dc.language.iso | zh-TW | |
| dc.subject | 六足機器人 | zh_TW |
| dc.subject | 踏點計算 | zh_TW |
| dc.subject | 多軸力感測器 | zh_TW |
| dc.subject | 力回饋控制 | zh_TW |
| dc.subject | multi-axis force sensor | en |
| dc.subject | force feedback | en |
| dc.subject | RHex | en |
| dc.subject | step point calculation | en |
| dc.title | 多軸力規開發與其在多足機器人上之應用 | zh_TW |
| dc.title | The Development of a Multi-axis Force Sensor and its Applications on a Legged Robot | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 103-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 黃光裕(Kuang-Yuh Huang),顏炳郎(Bing-Lang Yen) | |
| dc.subject.keyword | 多軸力感測器,六足機器人,力回饋控制,踏點計算, | zh_TW |
| dc.subject.keyword | multi-axis force sensor,force feedback,RHex,step point calculation, | en |
| dc.relation.page | 62 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2015-08-19 | |
| 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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