順從式足型機器人設計與改良

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姓名

陳廷熠(Ting-yi Chen) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

順從式足型機器人設計與改良
(The Design and Improvement of Compliant Hexapod Robot)

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摘要(中)

本研究之目的在設計全新的順從式足型機器人硬體，以期提供的更好的性能輸出，並且對此機器人做進階的步態控制探討。機器人的架構主要基於順從型之六足機器人所發展，目的是可以在崎嶇的地形下行走。順從型機器人系統設計包含直流馬達，順從足型機構的設計、致動器驅動電路與控制器系統等。使用單晶片採分散控制分工方式成功實現該機器人，分工控制降低了機器人控制的複雜度，提升了系統的穩定性。此外，實驗結果上也驗證了步行、轉彎等控制，以及草地行進、跨越障礙物等移動步態。本研究發展了一個順從式機器人發展平台，為日後設計新步態與動作的設計提供很大的彈性及空間。

摘要(英)

The purpose of this paper is to design and to improve the Compliant Hexapod Robot. It is expected that the proposed Hexapod Robot can provide better performance. The developed robot system is based on the Compliant Hexapod Robot. This scheme can help robot move on the rough landforms. The structure of the Compliant Hexapod Robot system consists of DC-motors, compliant legs, motor driving circuit and controller system. In this paper, we will apply the distributed controllers to accomplish the hexapod robot. This control scheme can reduce the complexity of the structure, and enhance the stability of the system. In addition, the experiments include ambulating, turning, passing through the grass and crossing the obstacle to test performances of the robot. In this study, we provide a development platform of a Compliant Hexapod Robot. This development platform will give a lot of assistance in planning new gait and movement.

關鍵字(中)

★ 足型機器人
★ 順從足型機器人
★ 分散式控制

關鍵字(英)

★ distributed control
★ legged robot
★ Compliant Hexapod Robot

論文目次

目錄 Ⅰ
圖目錄 Ⅳ
表目錄 Ⅷ
第一章緒論1
1.1 研究背景與動機 1
1.2 文獻回顧 2
1.3 論文架構 3
第二章系統介紹4
2.1 前言 4
2.2 順從式足型機器人簡介 4
2.3 系統架構 5
第三章順從型六足機器人硬體設計10
3.1順從式足型機器人硬體架構 10
3.2足型機構部份 12
3.3致動器與位置回授部分 13
3.3.1 致動器的選用 13
3.3.2 編碼器 15
3.4 控制系統部分 17
3.4.1 Microchip PIC18F4520 17
3.4.2 Microchip dsPIC33FJ256GP710 21
3.5 電源供給部份 24
3.6 馬達驅動與制動 25
3.6.1 功率放大電路 25
3.6.2 繼電器煞車電路 28
第四章控制方法與步態規劃 30
4.1 分散式控制架構 30
4.2 足部控制核心設計 31
4.2.1命令接收與判斷 31
4.2.2 足部位置回授 33
4.2.3 足部位置控制 36
4.3 步態控制核心設計 39
4.4 步態規劃與設計 41
4.4.1 站立 42
4.4.2 準備動作 43
4.4.3 前進 43
4.4.4 後退 44
4.4.5 左轉 45
4.4.6 右轉 46
4.4.7 特殊越障步態 47
第五章實驗結果 49
5.1 空載測量 49
5.2 動態實驗 50
5.2.1 機器人前進實驗 51
5.2.2 機器人後退實驗 52
5.2.3 機器人左轉實驗 53
5.2.4 機器人右轉實驗 54
5.2.5 草地行進實驗 55
5.2.6前進步態跨越障礙物實驗 56
5.2.7特殊步態跨越障礙物實驗 57
第六章結論與建議 58
6.1結論 58
6.2未來發展及建議 61
參考文獻 63

參考文獻

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指導教授

鍾鴻源(Hung-yuan Chung)

審核日期

2007-7-5

推文