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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 黃漢邦(Han-Pang Huang) | |
| dc.contributor.author | Syuan-Huei Hong | en |
| dc.contributor.author | 洪瑄徽 | zh_TW |
| dc.date.accessioned | 2021-06-16T10:29:07Z | - |
| dc.date.available | 2016-08-20 | |
| dc.date.copyright | 2013-08-20 | |
| dc.date.issued | 2013 | |
| dc.date.submitted | 2013-08-15 | |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/60762 | - |
| dc.description.abstract | The main research of this thesis is to generate a footstep trajectory rapidly for a humanoid robot in the environment. Being different from a mobile robot, a humanoid robot has the ability to step on and down or step across motion to overcome obstacles. We use the algorithm that is developed in this thesis and the database to achieve the goal of trajectory generation.
The algorithm that is proposed in this thesis is based on the basic RRT (Rapid Random Tree) algorithm. By adding the footstep transition models, the Multi-RRT algorithm is used to generate a footstep path of the humanoid robot. However, there are a lot of moving obstacles in the human living life. The dynamic Multi-RRT algorithm is the method to avoid moving obstacles by modifying the original path that is generated by the Multi-RRT algorithm. In addition, some information of the environment affects the stability of the robot. For example, the quality of commands transmission is influenced by the strength of the wireless signal. Even though, we cannot measure all the measurement in the map, we use the way to predict the values. Finally, we propose the DDAO Multi-RRT algorithm by considering the cost map that is modeled by a Gaussian Process. With the information of the map and the time-varying footstep trajectory, the humanoid robot can reach the goal by automatically changing the path. In this way, the humanoid robot can blend into our daily life. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-16T10:29:07Z (GMT). No. of bitstreams: 1 ntu-102-R99522842-1.pdf: 6747741 bytes, checksum: cfce59c691323785c555028e6a6ad520 (MD5) Previous issue date: 2013 | en |
| dc.description.tableofcontents | 摘要 .................................................................................................................................. i
Abstract............................................................................................................................ ii Lists of Tables................................................................................................................... v Lists of Figures ................................................................................................................ vi Chapter 1 Introduction .............................................................................................. 1 1.1 Motivation ................................................................................................ 1 1.2 Related Works........................................................................................... 2 1.2.1 Stable Pattern Generation ................................................................. 2 1.2.2 Searching Strategy for a Humanoid Robot....................................... 4 1.3 Thesis Organization.................................................................................. 6 1.4 Contributions ............................................................................................ 8 Chapter 2 Kinematics and Dynamics ...................................................................... 10 2.1 Introduction ............................................................................................ 10 2.2 Kinematics Analysis of Serial Manipulators ...........................................11 2.2.1 Forward Kinematics ........................................................................11 2.2.2 Inverse Kinematics ......................................................................... 13 2.3 Zero Moment Point and Cart – Table Model.......................................... 18 2.4 Summary................................................................................................. 21 Chapter 3 Navigation Planning for the Humanoid Robot ....................................... 23 3.1 Introduction ............................................................................................ 23 3.2 Hierarchical Searching Strategy ............................................................. 24 3.2.1 Rapid Random Tree Searching ....................................................... 25 3.2.2 Footstep Transition Models ............................................................ 28 3.2.3 Multi-RRT Algorithm ..................................................................... 31 3.2.4 Adjustment of ZMP........................................................................ 37 3.2.5 On-line COG Arrangement............................................................. 42 3.3 Summary................................................................................................. 46 Chapter 4 On-line Dynamic Footstep Planning ...................................................... 48 4.1 Introduction ............................................................................................ 48 4.2 Environment Analysis ............................................................................ 49 4.2.1 AND/OR Graphs ............................................................................ 49 4.2.2 Cost Map Modeled by a Gaussian Process..................................... 54 4.3 Modification of Multi-RRT .................................................................... 61 4.3.1 Dynamic Multi-RRT Footstep Planning......................................... 61 4.3.2 DDAO Multi-RRT Footstep Planning............................................ 68 iv 4.4 Summary................................................................................................. 77 Chapter 5 Simulations and Experiments ................................................................. 78 5.1 Introduction ............................................................................................ 78 5.2 Software Platform and Hardware Platform............................................ 78 5.3 Simulation Results.................................................................................. 79 5.3.1 Multi- RRT Algorithm in a Room .................................................. 81 5.3.2 DDAO Multi-RRT Algorithm with Two Moving Obstacles .......... 82 5.4 Experimental Results.............................................................................. 86 5.4.1 Three-Dimensional Walking and Multi-RRT Algorithm................ 87 5.4.2 The experiment of the DDAO Multi-RRT ..................................... 90 Chapter 6 Conclusions and Future Works............................................................... 93 6.1 Conclusions ............................................................................................ 93 6.2 Future Works .......................................................................................... 95 References ...................................................................................................................... 97 | |
| dc.language.iso | en | |
| dc.subject | 高斯過程 | zh_TW |
| dc.subject | 人形機器人 | zh_TW |
| dc.subject | RRT演算法 | zh_TW |
| dc.subject | 暫態步伐模型 | zh_TW |
| dc.subject | 動態步態軌跡 | zh_TW |
| dc.subject | RRT Algorithm | en |
| dc.subject | Humanoid Robot | en |
| dc.subject | Gaussian Process | en |
| dc.subject | Dynamic Footstep trajectory | en |
| dc.subject | Footstep Transition Model | en |
| dc.subject | ZMP | en |
| dc.title | 人形機器人避障步態軌跡規劃 | zh_TW |
| dc.title | Footstep Planning for Humanoid Robots with Obstacle Avoidance | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 101-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 林沛群(Pei-Chun Lin),蔡清元(Tsing-Iuan Tsay) | |
| dc.subject.keyword | 人形機器人,RRT演算法,暫態步伐模型,動態步態軌跡,高斯過程, | zh_TW |
| dc.subject.keyword | Humanoid Robot,RRT Algorithm,ZMP,Footstep Transition Model,Dynamic Footstep trajectory,Gaussian Process, | en |
| dc.relation.page | 102 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2013-08-15 | |
| 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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