![]() |
|
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:86 、訪客IP:3.144.243.168
姓名 陳盈翰(Ying-Han Chen) 查詢紙本館藏 畢業系所 電機工程學系 論文名稱 多自由度雙足機器人之設計與控制實現
(Design and Implementation of a Multi-Degree 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) 本論文乃是設計及製作一台雙足式機器人,使其能非常順利平穩的前進、後退行走、上下樓梯、坐下、翹腿、站起、跪下,另外在跌倒後能自我判斷倒下的面向,來決定需不需要翻轉身體、再自動爬起、站立。在機器人機構上採用壓克力組成基本腳部的骨架,動力上採用AI-1001馬達,以RS-232協定封包控制其角度,並偵測其角度回傳值以作為控制參數,機構上雙腳共計使用了10個馬達自由度來加強平衡的穩定性。控制法則上以多重混合控制,包含虛擬齒輪、鏡射、扭力控制、線性平滑化、非等距內插、重心偏移補償及有限狀態機等設計,構成基本的移動動作核心技術。另外在智慧型行動策略的設計上,主要藉由外部資訊來達到狀態機的激發與切換,包含方向感測器得知機器人跌倒後的面向,以決定站起的流程,另外還有利用座標系的推算來得知抬腳的高度,可以在不靠外加感測器的情況下就獲知樓梯的存在。以最少的複雜度設計來達到最複雜的動作可能,更是此作品研究的重點之一。本論文的目標為讓機器人的動作流暢,有最佳協調性及最佳行動軌跡,極近似人類動作並賦予一定程度的自我思考與修正能力將是本論文的最大成就。 摘要(英) The goal of this thesis is to design a biped robot which can walk forward and backward smoothly, go up and down stairs, sit down and lift legs, stand up and kneel down. It can also stand up automatically when it falls down. The structure is mostly made up of acrylic boards and using AI-1001 motor as actuator. We can control the degree of the motor through control package with RS-232 protocol and use its response package to detect the angle of the motor for adjust control parameter. The fundamental control strategies contain virtual gear, mirror relation, torque control, linear interpolation, nonlinear interpolation, center of gravity compensation and finite state machine etc. In the design of the intelligent interaction, we use external information to switch the state and the robot can determine the process itself by the data from the orientation sensor. Moreover, the robot can act correctly whether the stairs exist or not by calculating the height of the lifted leg without using any sensors. One of the focal point is using the simplest design to make it act complicatedly. The experiment results also show that the robot can have some intelligent interaction and adaptive ability. Briefly, the greatest achievement of this thesis is to make the robot move smoothly, have best balancing ability and well designed locomotion. 關鍵字(中) ★ 個人數位助理
★ 多自由度
★ 雙足機器人關鍵字(英) ★ biped robot
★ multi-degree
★ PDA論文目次 第一章 緒論 1
1.1研究背景 1
1.2文獻回顧 1
1.3研究動機與目的 2
1.4文本架構 3
第二章 機構設計與硬體規格 4
2.1機器人之機構設計 4
2.2硬體規格 5
2.3 PC平台之系統架構 11
2.4 PDA平台之系統架構 12
第三章 模型分析與座標系建立 15
3.1座標系分析 15
3.2建立機器人座標系 16
3.3馬達位置正規化 18
3.4機器人重心計算 20
3.5機器人抬腳高度 23
第四章 機器人系統控制設計 24
4.1控制簡介 24
4.2機構設計演進 24
4.3虛擬齒輪 28
4.4鏡射關係 30
4.5扭力控制 31
4.6動態扭力分配 32
4.7動作規劃 33
4.8線性內插平滑化 35
4.9非等距內插 36
4.10重心偏移補償 39
4.11有限狀態機 40
4.12系統流程 42
4.13反應控制設計 45
4.14反干擾回復 46
4.15探測功能 47
第五章 實驗結果 49
5.1前後左右實驗結果 50
5.1.1重心位置與扭力分配 50
5.1.2前進後退之負載電流 52
5.1.3前進後退動作截圖 54
5.2上下樓梯實驗結果 57
5.2.1重心位置與扭力分配 57
5.2.2上下樓梯之負載電流 59
5.2.3上下樓梯動作截圖 62
5.3踢球實驗結果 65
5.3.1重心位置與扭力分配 65
5.3.2踢球之負載電流 66
5.3.3踢球動作截圖 67
5.4坐下抬腳實驗結果 68
5.4.1坐下抬腳之負載電流 68
5.4.2坐下動作截圖 70
5.5定位模式實驗結果 70
5.6探測模式實驗結果 71
5.6.1重心位置 71
5.6.2探測模式動作截圖 72
第六章 結論與未來展望 73
6.1 結論 73
6.2 未來展望 73
參考文獻 75
附錄 77參考文獻 [1] Y. Kurematsu, S. Kitamura, and Y. Kondo, “Trajectory Planning and Control of a Biped Locomotive Robot-Simulation and Experiment,” Robotics and Manufacturing, Recent Trends in Research, Education and Applications,M.Jamshidi(ed.), pp.65-72, ASME Press, 1988.
[2] Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, and K.Tanie, “Planning Walking Patterns for a Biped Robot,” IEEE Trans. Robot. Automat., vol. 17, no. 3, June 2001.
[3] S. M. Song and K. J. Waldron, “An analytical approach for gait and its application on wave gaits,” Int. J. Robot. Res., vol. 6, no. 2, pp. 60–71, 1987.
[4] J. K. Hodgins and M. H. Raibert, “Adjusting step length for rough terrain locomotion,” IEEE Trans. Robot. Automat., vol. 7, pp. 289–298, June 1991.
[5] F. Gubina, H. Hemami, and R. B. McGhee, “On the dynamic stability of biped locomotion,” IEEE Trans. Bio-Med. Eng., vol. BME-21, no. 2, pp. 102–108, 1974.
[6] F. R. Sias, Jr. and Y. F. Zheng, “How Many Degrees-of-Freedom Does a Biped Need?,” IEEE International Workshop on Intelligent Robots and Systems, vol. 1, pp. 297–302, July 1990.
[7] M. van de Panne, E. Fiume, and Z. G. Vranesic, “A Controller for The Dynamic Walk of a Biped Across Variable Terrain,” Proceedings of the 31st IEEE Conference, vol. 3, pp. 2668–2673, Dec 1992.
[8] J. H. Park, and Y. K. Rhee, “ZMP Trajectory Generation for Reduced Trunk Motions of Biped Robots,” Intelligent Robots and Systems, vol. 1, pp. 90–95, Oct 1998.
[9] M. Inaba, F. Kanehiro, S. Kagami, and H. Inoue, “Two-armed bipedal robot that can walk, roll over and stand up,” Intelligent Robots and Systems, vol. 3, pp. 297–302, 1995.
[10] K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, “The development of Honda humanoid robot,” Robotics and Automation, vol. 2, pp. 1321–1326, 1998.
[11] K. Erbatur et al, “A Study on the Zero Moment Point Measurement for Biped Walking Robots,” Advanced Motion Control 7th International Workshop, pp. 431–436, July 2002.
[12] D. J. Kim et al, “Design of Small Power Biped Robot by Load Sharing of Walking Gait,” Robotics and Automation, vol. 4, pp. 3359–3364, April 2000.
[13] J. J. Craig, Introduction to Robotics–Mechanics and Control, Third Edition, Pearson Prentice Hall, 2005.
[14] A. Haigh, Object-Oriented Analysis & Design, McGraw Hill, 2001.
[15] J. Iovine, Robots, Androids, and Animatrons, Second Edition, McGraw Hill, 2001.
[16] D. H. Williams, PDA Robotics, McGraw Hill, 2003.
[17] P. Menzel, F. D’Aluisio 著, 林文源 譯, 機器人的進化:人工智慧與機器人學的新世紀, 商周出版: 城邦文化發行, 2002.
[18] R. C. Gonzalez, R. E. Woods 著, 繆紹綱 譯, 數位影像處理, 台灣培生教育出版: 普林斯頓國際發行, 2003.
[19] 范逸之, 廖錦棋, VB.Net自動化系統監控RS-232串列通訊, 文魁資訊, 2004.
[20] 林偉豐, Visual Basic .NET 與 Pocket PC 程式設計, 文魁資訊, 2002.
[21] Mega Robotics 之網站 http://www.megarobotics.com/en_main.htm指導教授 王文俊(Wen-June Wang) 審核日期 2006-6-29 推文 plurk
funp
live
udn
HD
myshare
netvibes
friend
youpush
delicious
baidu
網路書籤 Google bookmarks
del.icio.us
hemidemi
myshare