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標題: | 以具腰部與雙滾動彈性足之動態模型建構四足機器人之動態步態 Development of a Two-rolling-leg Model with Waist Actuation and Its Application in a Quadruped Robot with Dynamics Gaits |
作者: | Chung-Li Chen 陳仲禮 |
指導教授: | 林沛群 |
關鍵字: | TRLW,具腰部結構之平面雙足模型,四足機器人,bound步態,pronk步態, TRLW,planar model with waist structure,quadruped robot,bounding gait,pronking gait, |
出版年 : | 2016 |
學位: | 碩士 |
摘要: | 機器人是近年來發展迅速的領域,隨著科技日新月異,機器人將逐漸走入人們的日常生活之中。能行走在較崎嶇的足類機器人更是未來發展的重要方向。為研究出能具有高機動性的足類機器人,越來越多的機器人在設計、控制階段中運用仿生學的概念,藉由模仿生物的行走策略來實現動態奔跑的步態。在生物上的動態步態中,四足動物的步態是一主流的研究方向,其運動方式會隨物種不同而有改變。研究這些生物的運動能發現,牠們所使用步態深受其身體結構影響。陸地上奔跑速度最快的獵豹是本研究的發想來源,獵豹高速跑動時除了腿部的強大推力外,腰部的大幅擺動也對步態的速度有很大的影響。本研究的主要目標為研究腰部擺動對動態步態產生的效應,並運用Model-based的動態步態軌跡來實現機器人的奔跑運動。文中以實驗室研發的TRL模型為基礎,加入腰部轉動的自由度,發展成TRLW模型,並將腰部限制於一參數化軌跡,使系統會有能量之進出。論文中以此模型為基礎,建立一尋找bound與pronk步態穩定點的方法,得出其步態穩定點的分布情形,並討論各參數對於步態的影響。在實驗中,將前述模型的軌跡應用於胡家睿學長所開發的TWIX機器人上,實現機器人的動態跑動步態。為了瞭解腰部結構在機器人上的作用,實驗將分別執行腰部固定的步態與具有腰部擺動的步態。觀察這兩者間的差異,能發現腰部擺動對步態產生的好壞處,並與模擬之理論值比較,驗證TRLW模型能描述四足機器人的動態特性。 Robotics develops rapidly in these years. Followed by the advance of technology and innovation, robots will emerge into our daily life. Moreover, research on legged robots which can overcome rugged terrains is a developing trend in the future. To develop legged robots with high-agility, more and more researchers design and control robots by learning from animals' moving strategy. Gaits of quadrupeds is a main issue in discussion of animals' running. From researching animals' locomotion strategies, we can tell that the gaits animals choosen are tied to their physical structures. Cheetah is the fast animal in the world, besides powerful propulsion by rear legs, the wide swing of the waists also play a great role when they move in high speed. This research mainly focus on the effect of waist to the dynamic gaits, and model-based planning trajectories of gaits are utilized to realize the locomotion of robot. This research is based on TRL-model developed by our lab, adding the degree of freedom of the waist to develop the TRLW-model, and the waist is restricted to a parameterized trajectory. This research develops a method to find stable points of bounding and pronking gaits based on TRLW-model, and hence get the distribution of stable points, the influence of each parameter is discussed afterwards. The trajectories generated by TRLW-model are applied to the TWIX robot built by Chia-Jui Hu to realize the dynamic locomotion. To comprehend the function of the waist, waist-fixed and waist-free experiments are done. By studying the difference between them, pros and cons of the waist can be found. Furthermore, the experiment results are compared to the theoretical values to verify the TRLW-model truly works for quadruped robots. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/76454 |
DOI: | 10.6342/NTU201601961 |
全文授權: | 同意授權(全球公開) |
電子全文公開日期: | 2026-12-31 |
顯示於系所單位: | 機械工程學系 |
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檔案 | 大小 | 格式 | |
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ntu-105-R03522808-1.pdf 此日期後於網路公開 2026-12-31 | 7.8 MB | Adobe PDF |
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