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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 | Peng-Hsi Chang | en |
dc.contributor.author | 張彭熙 | zh_TW |
dc.date.accessioned | 2021-06-16T10:34:04Z | - |
dc.date.available | 2015-08-20 | |
dc.date.copyright | 2013-08-20 | |
dc.date.issued | 2013 | |
dc.date.submitted | 2013-08-14 | |
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[2] K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, 'The development of honda humanoid robot,' in Int. Conf. Robot. Autom., 1998, pp. 1321–1326. [3] 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. [4] 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. [5] 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. [6] S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, et al., 'Biped walking pattern generation by using preview control of zero-moment point,' in Robotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on, 2003, pp. 1620-1626. [7] 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. [8] S. Shimmyo, T. Sato, and K. Ohnishi, 'Biped walking pattern generation by using preview control with virtual plane method,' in Advanced Motion Control, 2010 11th IEEE International Workshop on, 2010, pp. 414-419. [9] S. Shimmyo and K. Ohnishi, 'Nested preview control by utilizing virtual plane for biped walking pattern generation including COG up-down motion,' in IECON 2010-36th Annual Conference on IEEE Industrial Electronics Society, 2010, pp. 1571-1576. [10] B. J. Stephens and C. G. Atkeson, 'Dynamic balance force control for compliant humanoid robots,' in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, 2010, pp. 1248-1255. [11] B. Stephens, 'Humanoid push recovery,' in Humanoid Robots, 2007 7th IEEE-RAS International Conference on, 2007, pp. 589-595. [12] B. Vanderborght, 'Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness,' Ph.D. Dissertation, Vrije Universiteit Brussel, 2007. [13] D. C. Bentivegna, C. G. Atkeson, and J.-Y. Kim, 'Compliant control of a hydraulic humanoid joint,' in Humanoid Robots, 2007 7th IEEE-RAS International Conference on, 2007, pp. 483-489. [14] B. J. Stephens, 'State estimation for force-controlled humanoid balance using simple models in the presence of modeling error,' in Robotics and Automation (ICRA), 2011 IEEE International Conference on, 2011, pp. 3994-3999. [15] Tomoya Sato, Eijiro Ohashi, 'Walking Trajectory Planning on Stairs Using Virtual Slope for Biped Robots,' Industrial Electronics, IEEE Transactions on, vol. 58, No. 4,April 2011 [16] B. J. Stephens, 'State estimation for force-controlled humanoid balance using simple models in the presence of modeling error,' in Robotics and Automation (ICRA), 2011 IEEE International Conference on, 2011, pp. 3994-3999. [17] R. Bellman, 'A Markovian Decision Process,' Journal of Mathematics and Mechanics 6, 1957. [18] Hart, P.E.; Nilsson, N.J.; Raphael, B., 'A Formal Basis for the Heuristic Determination of Minimum Cost Paths,' Systems Science and Cybernetics, IEEE Transactions on , vol.4, no.2, pp.100,107, July 1968 [19] H.Hemami, 'Reduced order models for biped locomotion,' IEEE Trans. Systems Man Cybernetics, pp.321-351, 1978. [20] 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, Volume 41, Issue 3, 1985. [21] Filipe M. Silva, J.A. Tenreiro Machado, 'Energy Analysis During Biped Walking,' International Conference on Robotics & Automation, Detroit, Michigan May 1999. [22] Qiang Huang, Kazuhito Yokoi, Shuuji Kajita, Kenji Kaneko, Hirohiko Arai, Noriho Koyachi, and Kazuo Tanie, 'Planning Walking Patterns for a Biped Robot,' IEEE Transactions on Robotics and Automation, vol. 17, no. 3, June 2001 [23] Akinori Sekiguchi, Koki Kameta, Yuichi Tsumaki and Dragomir N. Nenchev, 'Biped Walk Based on Vertical Pivot Motion of Linear Inverted Pendulum,' Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on [24] Hyeok Ki Shin and Byung Kook Kim, 'Energy-Efficient Reference Gait Generation Utilizing Variable ZMP and Vertical Hip Motion Based on Inverted Pendulum Model for Biped Robots,' International Conference on Control, Automation and Systems 2010 Oct. 27-30, 2010 in KINTEX, Gyeonggi-do, Korea [25] Ren.C.Luo, Hong-Yi Chang, Hong-Hao Chang, and Yi-Ping Yang, 'Walking Pattern Based on Simulated Annealing for Biped Robotics,' World Congress on Intelligent Control and Automation June 21-25 2011, Taipei, Taiwan [26] Ren.C Luo, Hong-Hao Chang, Chin-Cheng Chen, Kai Chieh Huang, 'Walking Pattern Generation Based on Energy Function and Inverse Pendulum Model for Biped Robot,' IEEE International Conference on Automation Science and Engineering August 20-24, 2012, Seoul, Korea [27] Jin Tak Kim and Jong Hyeon Park, 'Quick Change of Walking Direction of Biped Robot With Foot Slip In Single-Support Phase,' IEEE-RAS International Conference on Humanoid Robots, October 26-28, 2011 [28] Guoqiang Shi Hao Wang Baofu Fang, 'Online Omnidirectional Walking Patterns Generation for Biped Robot,' The Ninth International Conference on Electronic Measurement & Instruments [29] M. Yagi and V. Lumelsky, 'Synthesis of Turning Pattern Trajectories for a Biped Robot in a Scene with Obstacles,' Proceedings of the 2000 IEEE/RSJ International Conference on lnrelligent Robots and Systems [30] Zhangguo Yu, Qiang Huang, Xuechao Chen, Wei Xu, Ging Li, and Kejie Li, 'On-line Trajectory Generation for a Humanoid Robot Based on Combination of Off-line Patterns,' Proceedings of the 2009 IEEE International Conference on Information and Automation , June 22 -25, 2009 | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/60871 | - |
dc.description.abstract | 雙足機器人在機器人發展中一直都扮演著重要的角色,比起一般常見的輪型機器人,雙足機器人在移動上擁有更大的優勢,例如上下樓梯、跨過門檻等等。現今大多雙足機器人發展都是以等身高方式行走,這種行走方式是為了避免模型計算上的困難而去做的簡化。然而這種行走模式不但姿勢不像人類,且因為長時間彎曲膝蓋的行走,使得馬達需要長施間輸出大力矩,常常會造成雙足機器人的馬達有過熱的問題。因此,我們致力於發展一種行走時身高上下變化的行走模式,這種非等身高的行走模式有相當多的優點,除了可以有較大的步伐外,由於在行走的過程中有較為伸直膝蓋,這也讓馬達可以縮短輸出大力矩的時間,進而達到馬達使用壽命的延長。
然而,非等身高的行走方式比起等身高的行走方式會造成機器人身體移動得較為劇烈,以至於它的穩定性會較差。並且因為一般的伺服馬達控制響應會有延遲的問題,所以常常無法達到好的穩定性表現。因此過去有人提出了一種叫做預看控制的方式能改善這個問題,但是這個方式僅適用於等身高的行走。所以為了要讓這個方法也能應用在非等身高的行走,我們提出了一種設計機器人身高變化的軌跡,使它在機器人模型的數學上可以視為一種等身高行走的表現。而這種實際上非等身高行走但模型上是等身高的行走就可以使用預看控制,進而達到增加行走的穩定性,並且解決伺服馬達控制會有延遲的問題。 此外,本篇論文亦會提出一種利用軌跡映射的軌跡產生器。一般軌跡產生器多以設計直線軌跡為最基礎的功能,然而在我們生活的環境裡,不可能只有直走,而是會有大量的曲線前進。很多的雙足機器人都是設計了直走和原地旋轉,雖然這樣可以完成大部分的行走,但是這樣的行走方式對人類來說非常奇怪。因此,曲線前進對於雙足機器人是必要的功能。有些雙足機器人是利用設計腳步移動的軌跡來達到曲線前進的功能,但是這樣不僅較為麻煩,並且也難以確認設計的軌跡會不會超出雙腳的工作空間。因此,我們提出用映射的方式將原本最基本的直線軌跡變成一個曲線軌跡,這樣不僅保證軌跡都會在機器人的工作空間內,也不需要特地為腳步移動去設計軌跡。最重要的一點,這種產生軌跡的方式可以依前進路徑去修改它的軌跡,因此一般移動輪型機器人發展的路徑規劃也能和此方法相結合。這樣我們就不需要特地為雙足機器人去發展一套路徑規劃的演算法,只要套用到已知的移動平台演算法,我們的雙足機器人一樣能達到巡航的功能。 另外在控制器設計的部分,我們不僅使用了一般常用的PD控制器外,更加入了動態控制器去補償,因此在行走實驗的追蹤控制也能表現得比一般只使用PD控制器更好。雙足機器人在行走時很容易遇到擺動腳落地時產生衝擊的問題,在本論文裡也提出使用簡單的方式來降低衝擊力以保持雙足機器人行走的穩定。 在實驗部分,我們會展示使用預看控制的非等身高的直線行走,並且利用非等身高行走的特性,我們還將非等身高行走的方式應用出上樓梯的功能。此外,我們亦展示利用映射軌跡的方式產生原地旋轉的步態,以及將此法應用在任意路徑的行走。 | zh_TW |
dc.description.abstract | Biped robot plays an important role in robot development. Compared with wheeled robot, biped robot has greater advantages of moving capabilities, such as going upstairs and downstairs, stepping over obstacles, and so on. Nowadays, most biped robots walk with constant body height to simplify computation of walking pattern generation. Walking with constant body height requires biped robots to bend their knees, causing large torque output for the motors and overheat. Walking with bent knees is scarcely humanlike so we propose to developing a walking pattern with variate body height. This walking pattern has many advantages. For example, the biped robot is capable of walking with larger stride. In addition, the lifespan of motor is greatly extended because of less time for large torque output.
Preview control is a good pattern generation with better tracking performance than a general servo control. For instance, the servo motor control always has problems of delay which can be solved by preview control. Nevertheless, conventional preview control is generated based on the assumption of constant body height. In order to apply preview control in walking pattern generation with variate body height walking, we propose a design method for an optimal COM height trajectory, so that it can be regarded as constant body height mathematically. Therefore, the stability of variate body height walking will become stronger, and the problem of delay can be solved. Besides, we propose a trajectory generator which is used with mapping method. Changing directions is necessary for a biped robot to move in a real environment. Many biped robots combine the straight and situ rotation walking patterns to achieve changing direction, but such walking pattern is strange and different from humans. Thus, a curved walking like humans is necessary for biped robot. To avoid the trouble of designing the moving foot trajectory and check the foot workspace. We propose a mapping method of realizing curved walking by converting the straight walking along a curved path. With this method, robot is capable of changing the trajectory for different path. Moreover, as long as we combine this method with path planning in mobile robot, the biped navigation must be realized. In the controller part, we adopt a switched PID joint controller to improve the performance of tracking control. Soft landing control method is adopted by designing foot rotation, in order to reduce impact. In the experiment part, we implement the variate body height walking, and climbing upstairs walking. Moreover, we will implement arbitrary path walking by our mapping method. In this thesis, a significant walking pattern with variate body height is proposed. According to this walking pattern, the larger stride walking and climbing stairs are achieved. Moreover, due to the designed COM height trajectory, applying the walking pattern with variate body height to preview control is feasible and efficient. Besides, because the mapping method is proposed, the arbitrary path walking is achieved without pre-design ZMP trajectory and foot trajectory. | en |
dc.description.provenance | Made available in DSpace on 2021-06-16T10:34:04Z (GMT). No. of bitstreams: 1 ntu-102-R00921061-1.pdf: 6144890 bytes, checksum: f615e4a0dc8e77365d9483234847fcce (MD5) Previous issue date: 2013 | en |
dc.description.tableofcontents | 致謝 I
中文摘要 II ABSTRACT IV TABLE OF CONTENTS VI LIST OF FIGURES VIII LIST OF TABLES XI CHAPTER 1 INTRODUCTION 1 1.1 PROBLEM DEFINITION 1 1.2 STATE OF THE ART 2 1.2.1 WABIAN 2 1.2.2 ASIMO 3 1.3 LITERATURE REVIEW 6 1.3.1 Zero Moment Point 6 1.4 OBJECTIVES 7 1.5 ORGANIZATION 9 CHAPTER 2 SYSTEM STRUCTURE 10 2.1 HARDWARE STRUCTURE 10 2.2 SOFTWARE STRUCTURE 15 2.3 ROBOT COORDINATE SYSTEM 18 2.3.1 Forward kinematics analysis 19 2.3.2 Inverse kinematics Analysis 22 CHAPTER 3 TRAJECTORY GENERATION 28 3.1 WALKING CYCLE 29 3.2 MODELING FOR BIPED ROBOT 32 3.2.1 One Mass Model 32 3.2.2 Three Mass Model 34 3.2.3 Multi-body Model 36 3.3 ZMP AND FOOT TRAJECTORIES 37 3.4 PREVIEW CONTROL 42 3.5 PREVIEW CONTROL WITH VARIATE BODY HEIGHT 46 3.6 GENERAL TRAJECTORY GENERATOR FOR ARBITRARY PATH 48 CHAPTER 4 CONTROL ALGORITHM 56 4.1 PD CONTROLLER 57 4.2 GRAVITY COMPENSATION 59 4.3 LANDING CONTROL 64 CHAPTER 5 BIPED EXPERIMENT 68 5.1 STRAIGHT WALKING 68 5.2 CLIMBING UPSTAIRS 77 5.3 ARBITRARY CURVE PATH WALKING 81 CHAPTER 6 CONCLUSIONS, CONTRIBUTIONS, AND FUTURE WORKS 85 6.1 CONCLUSIONS AND CONTRIBUTIONS 85 6.2 FUTURE WORKS 87 REFERENCES 88 VITA 91 | |
dc.language.iso | en | |
dc.title | 俱身高變化雙足機器人線上軌跡生成之研究 | zh_TW |
dc.title | Online Trajectory Generation for Variate Body Height Biped Walking Robot | en |
dc.type | Thesis | |
dc.date.schoolyear | 101-2 | |
dc.description.degree | 碩士 | |
dc.contributor.coadvisor | 陳俊宏(Chun-Hung Chen) | |
dc.contributor.oralexamcommittee | 傅立成(Li-Chen Fu) | |
dc.subject.keyword | 雙足機器人,變化身高行走,預看控制,軌跡產生器, | zh_TW |
dc.subject.keyword | biped robot,variate body height walking,preview control,trajectory generator, | en |
dc.relation.page | 91 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2013-08-14 | |
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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