![]() |
|
以作者查詢圖書館館藏 、以作者查詢臺灣博碩士 、以作者查詢全國書目 、勘誤回報 、線上人數:42 、訪客IP:3.133.115.92
姓名 林哲平(Che-Ping Lin) 查詢紙本館藏 畢業系所 機械工程學系 論文名稱 二足機器人之模糊邏輯ZMP產生器及IC設計
(Fuzzy-Logic Zero-Moment-Point Generator and IC design of Biped Robot)相關論文 檔案 [Endnote RIS 格式]
[Bibtex 格式]
[相關文章]
[文章引用]
[完整記錄]
[館藏目錄]
[檢視]
[下載]
- 本電子論文使用權限為同意立即開放。
- 已達開放權限電子全文僅授權使用者為學術研究之目的,進行個人非營利性質之檢索、閱讀、列印。
- 請遵守中華民國著作權法之相關規定,切勿任意重製、散佈、改作、轉貼、播送,以免觸法。
摘要(中) 傳統上常使用預設的ZMP值來求解出二足機器人軀幹所需補償軌跡,本文不使用預設ZMP值,而設計模糊邏輯ZMP產生器求出ZMP值,其方法是經由所量測到腳掌和腰部幾何中心的位置,利用模糊算術的方法,求解出能使機器人穩定步行的ZMP值,且進一步設計一個八連桿二足機器人,利用MSC. VISUAL NASTRAN 4D與MATLAB Fuzzy Tool Box、MATLAB SIMULINK結合來模擬,證實模糊ZMP產生器能提供機器人穩定的步行設計,並且使用Verilog HDL 設計模糊ZMP產生器的IC,並利用ModelSim模擬,並驗證其功能的正確性。 摘要(英) Traditionally, it is often to use preset ZMP to solve the necessary compensation trajectory of biped robot trunk. This thesis does not use preset ZMP, instead, a fuzzy logic ZMP generator was designed to estimate the ZMP values. This method measures the position of geometrical center of sole and waist, then utilizes a set of fuzzy arithmetic equations to calculate the ZMP values.The robot design based on those ZMP values can make the robot walk steadily. In addition, a eight link biped robot was designed. The simulation was completed by combining several tools such as MSC., VISUAL NASTRAN 4D, MATLAB Fuzzy Tool Box and MATLAB SIMULINK. The simulation proved that fuzzy ZMP generator can provide a stable biped robot design.
Verilog HDLwas used to design the Fuzzy ZMP Generator IC,and ModelSim was used to simulate and verify the desired functions of ZMP generator.關鍵字(中) ★ 零力矩點
★ 模糊邏輯
★ 積體電路設計
★ 軀幹補償
★ 二足機器人關鍵字(英) ★ Integrated Circuit Design
★ Trunk Compensation
★ Zero Moment Point
★ Fuzzy Logic
★ Biped Robot論文目次 目次
中文摘要………………………………………………………I
ABSTRACT………………………………………………………II
誌謝……………………………………………………………III
目次……………………………………………………………IV
圖目錄…………………………………………………………VI
表目錄…………………………………………………………IX
第一章 緒論....................................................1
1.1 前言.......................................................1
1.2 研究動機與目的 .............................................2
1.3 本文架構...................................................3
第二章 二足步行機器人軌跡規劃..................................4
2.1機器人模型 4
2.2二足步行機器人運動學與反運動學方程式推導....................6
2.2.1直接運動...............................................6
2.2.2反向運動學.............................................7
2.3運動軌跡規劃...............................................11
第三章 模糊邏輯ZMP產生器......................................13
3.1零力矩點(ZERO MOMENT POINT)................................13
3.2 ZMP方程式.................................................13
3.3模糊系統(Fuzzy System).....................................15
3.4模糊ZMP產生器之設計 17
第四章 模糊ZMP產生器之IC設計..................................22
4.1數位IC設計.................................................22
4.2模糊晶片設計...............................................27
4.2.2模糊化電路設計...........................................28
4.2.2規則庫電路設計...........................................31
4.2.3推論引擎電路設計.........................................33
4.2.4解模糊化電路設計.........................................34
第五章 模擬分析與討論.........................................44
第六章 結論與未來展望.........................................65
6.1結論.......................................................65
6.2未來展望...................................................65
參考文獻......................................................66參考文獻 [1]Miyazaki, F. and Arimoto, S., “A Control Theoretic Study on Dynamical Biped Locomotion,” ASME Journal of Dynamics, Systems, Measurement and Control, Vol. 102, pp.174-182 1989
[2]Kim, J.G., Noh, K., and Park, K., Human-Like Dynamic Walking for a Biped Robot Using Genetic Algorithm., ICES 2001, LNCS 2210, pp. 159-170, 2001
[3]Li, Q., Takanishi, A., and Kato, I., Learning Control of Compensative Trunk Motion for Biped Walking Robot based on ZMP Stability Criterion., Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 597-603, 1992
[4]Lim, H., Setiawan, S., and Takanishi, A., Balance and Impedance Control for Biped Humanoid Robot Locomotion., Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 494-499, 2001
[5]Lim, H., Yamamoto, Y., and Takanishi, A., Stabilization Control for Biped Follow Walking, Advanced Robotic, Vol.16, No.4, pp.361-380, 2002
[6]Napoleon, Nakaura, S., and Sampel, M., Balance Control Analysis of Humanoid Robot based on ZMP Feedback Control., Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2437-2442, 2002
[7]Park, J.H., Fuzzy-Logic Zero-Moment-Point Trajectory Generation for Reduced Trunk Motions of Biped Robots, Fuzzy Sets and Systems, Vol.134, pp.189-203, 2003
[8]Park, J.H., and Chung, H., ZMP Compensation by On-Line Trajectory Generation for Biped Robots, Proceedings of the 1999 IEEE International Conference on Systems, Man, and Cybernetics,Vol.4, pp.960 – 965, 1999
[9]Sugano. S., Huang. Q., and Kato, I., Stability Criteria in Controlling Mobile Robotic Systems, Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 832-838, 1993
[10]Sugihara, T., Nakamura, Y., and Inoue, H., Realtime Humanoid Motion Generation through ZMP Manipulation based on Inverted Pendulum Control, Proceedings of the 2002 International Conference on Robotics and Automation, pp. 1404-1409, 2002
[11]Vukobratović, M., Frank, A., and Juričić, D., On the Stability of Biped Locomotion, IEEE Transactions on Bio-Medical Engineering, Vol.BME-17, No.1, pp.25-36., 1970
[12]Yamaguchi, J., and Takanishi, A., Development of a Leg Part of a Humanoid Robot-Development of a Biped Walking Robot Adapting to the Humans’ Normal Living Floor, Autonomous Robots, Vol.43, pp.69-385, 1997
[13]王文俊,”認識Fuzzy”, 全華科技圖書股份有限公司,1994
[14]李文猶,七連桿二足步行機器人BR2之製作,碩士論文,臺灣科技大學電機工程技術研究所,臺北,1998
[15]紀捷聰,二足步行機器人的設計製作與控制,博士論文,臺灣科技大學電機工程研究所,臺北,2001
[16]邱志偉,二足機器人之動態平衡分析,碩士論文,中央機械工程研究所,桃園,2004
[17]陳澄峰,二足機器人行走模式之研究,碩士論文,大葉大學機械工程研究所,彰化,2002
[18]賴信成,雙足步行機器人之步姿運動規劃及控制,碩士論文,大葉大學機械工程研究所,彰化,2003
[19]曹國昌,FPGA為基礎之微步進馬達模糊電流控制器設計,碩士論文,長庚大學電機工程研究所,桃園,2003
[20]葉致青,以FPGA晶片實現遙控直昇機之模糊控制器,碩士論文,國立成功大學航空太空工程研究所,台南,2004
[21]吳駖,MATLAB 6.X與基礎自動控制,文魁資訊股份有限公司,臺北,2002
[22]蒙以正,專業設計技巧Matlab 5,碁峰資訊股份有限公司,1998
[23]張智星,MATLAB程式設計與應用,清蔚科技股份有限公司出版事業部,新竹,2000
[24]黃錦煌等,機構模擬,全華科技圖書股份有限公司,臺北,2002
[25]黃英叡、黃稚存、張銓淵、江文啟,Verilog 硬體描述語言Verilog HDL,全華,2003
[26]鄭信淵,Verilog硬體描述語言數位電路,儒林,2004
[27]林灶生、劉紹漢,Verilog FPGA 晶片設計,全華,2004指導教授 張江南(Chiang-Nan Chang) 審核日期 2005-7-8 推文 plurk
funp
live
udn
HD
myshare
netvibes
friend
youpush
delicious
baidu
網路書籤 Google bookmarks
del.icio.us
hemidemi
myshare