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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 黃漢邦 | |
dc.contributor.author | Yun-Han Wang | en |
dc.contributor.author | 王韻涵 | zh_TW |
dc.date.accessioned | 2021-07-11T15:25:53Z | - |
dc.date.available | 2023-11-29 | |
dc.date.copyright | 2018-11-29 | |
dc.date.issued | 2018 | |
dc.date.submitted | 2018-11-27 | |
dc.identifier.citation | References
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/78875 | - |
dc.description.abstract | 針對複合型的移動-操作任務,本論文提出了以優勢空間作為基底,結合人型機器人之動作意識的全身運動規劃。並透過浮體運動學與質心動量矩陣的運用,進一步推導出各連桿之轉動對機器人質心的影響。此外,根據不同之任務特性,末端執行器的軌跡則在優勢空間的不同區域中進行調整,使機器人能夠產生類似人類行為的動作。
然而在人形機器人生成所需軌跡後,仍需要實時進行控制以確保機器人在受到外力的干擾下,能夠保持自身之平衡。因此本論文提出了基於二次規劃(Quadratic Programming)的整合型控制器,藉由比例-微分控制與線性二次狀態增量(Linear Quadratic State-Incremental)控制等多種控制方法在機器人動量上的規劃,可確保機器人在執行任務期間的穩定性。並透過變動平衡穩定和任務執行之間的權重,使得機器人可以根據自身的狀態進行優先級調整,以達到穩定行走之目的。 | zh_TW |
dc.description.abstract | Considering the problem of planning whole-body motions for humanoid robots that must execute loco-manipulation tasks, we propose a novel concept of dominant space to generate human-like motions with consciousness. Through the use of floating based kinematics and centroidal momentum matrix, the relation between the links and the COM can be derived. Moreover, according to the properties of different tasks, the trajectories of the end-effectors are modified in different zones of dominant space.
After the generation of trajectories for a humanoid, it is essential to keep self-balance with a real-time controller to overcome the disturbance from external forces. An integrated controller based on quadratic programming method is designed to keep the balance of the robot during task period by combing several controllers, including PD control and LQSI (Linear Quadratic State-Incremental) control, to regulate the momentum of the robot. Furthermore, with the change on the weightings between balance keeping and motion execution, the robot can adjust the priorities to achieve stable walking according to its own situation. | en |
dc.description.provenance | Made available in DSpace on 2021-07-11T15:25:53Z (GMT). No. of bitstreams: 1 ntu-107-R05522806-1.pdf: 8289782 bytes, checksum: f2016ff35e074fc6474c27fc613e7858 (MD5) Previous issue date: 2018 | en |
dc.description.tableofcontents | 誌謝 i
摘要 iii Abstract v List of Tables xi List of Figures xiii Nomenclature xvii Chapter 1 Introduction 1 1.1 Motivations 1 1.2 Contributions 2 1.3 Organization 4 Chapter 2 Humanoid Robot System 7 2.1 Pattern Generation 8 2.1.1 Dynamic model of biped robots 8 2.1.2 Linear Quadratic State-Incremental Control 10 2.2 Floating based Kinematics 12 2.3 COG State Estimator 17 2.3.1 System Model 18 2.3.2 Sensor Model 19 2.4 Summary 22 Chapter 3 Whole Body Motion Planning 23 3.1 The Arm Effect in Locomotion 25 3.2 Dominant Space 27 3.3 Workspace Analysis 31 3.4 Synchronized Leg-Arm Motion 39 3.5 Footstep Modification 45 3.6 Summary 48 Chapter 4 Multi-Objective Controllers 49 4.1 Integrated QP Controller 52 4.1.1 Constraints 54 4.1.2 Objective Functions 61 4.1.3 QP Formulation 66 4.2 Priority Adjustment 70 4.3 Summary 73 Chapter 5 Simulations and Experiments 75 5.1 Simulation Environment 75 5.2 Specification of the NTU Humanoid Robot 76 5.3 Simulation Scenarios and Results 77 5.3.1 Walking with Arm-Swing Motion 78 5.3.2 Synchronized Leg-Arm Motion 81 5.3.3 Standing with Three Directional Disturbance 85 5.3.4 Walking with Three Directional Disturbance 90 5.4 Experiment Scenarios and Results 96 5.4.1 Standing with Manipulation Task 96 5.4.2 Standing with Three Directional Disturbance 99 5.4.3 Walking with Three Directional Disturbance 105 5.5 Summary 109 Chapter 6 Conclusions and Future Works 111 6.1 Conclusions 111 6.2 Future Works 112 Appendix A The Inertia and Mass of the Robot 115 Appendix B The Output of Joint Accelerations 119 References 124 | |
dc.language.iso | en | |
dc.title | 人形機器人的手腳協調運動規劃與全身動量控制 | zh_TW |
dc.title | Synchronized Leg-Arm Motion Planning and Whole-Body Momentum Control for Humanoid Robots | en |
dc.type | Thesis | |
dc.date.schoolyear | 107-1 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 郭重顯,李祖聖 | |
dc.subject.keyword | 人型機器人,優勢空間,浮體運動學,質心動量矩陣,二次規劃,動量控制, | zh_TW |
dc.subject.keyword | Humanoid Robot,Dominant Space,Floating Based Kinematics,Centroidal Momentum Matrix,Quadratic Programming,Momentum Control, | en |
dc.relation.page | 138 | |
dc.identifier.doi | 10.6342/NTU201804305 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2018-11-28 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
dc.date.embargo-lift | 2023-11-29 | - |
顯示於系所單位: | 機械工程學系 |
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