基於三質心角動量模型及階梯斜面轉換之爬樓梯雙足機器人

雙足步行機器人比之於輪型機器人有很大的優勢，如行走在不平的地形，避開障礙物，避免碰撞，推動恢復，跨大步障礙，攀爬樓梯。為了保持平衡，兩足機器人的穩定性是至關重要的。零力矩點理論已經提出了判斷機器人是否穩定。如果零力矩點超過腳的多邊形的安全範圍，雙足機器人可能會摔倒。基於零力矩點理論研究人員提出了一些簡化的模型。倒單擺模型，將所有的質量集中于一點。而為了減少直線倒立擺模型的模型誤差，便有了更精細的三質心模型和多質心模型的建立。除了這些，為了減少轉動慣量所造成的誤差，研究人員提出了一種由倒單擺模型改進的飛輪模型，將倒單擺模型的質心替換為一個有質量可旋轉的飛輪。為了進一步提高模型的準確性，我們提出了一個新的模型，結合了三個質心和角動量，命名為三質量與角動量模型。該模型不僅考慮軀幹的轉動考慮，也考慮兩條腿的轉動慣量對雙足行走的影響。同時我們在文中給出了該模型的零力矩點的表達式以及運動方程式。在雙足機器人爬樓梯過去的研究中，有國外的學者已經提出了使用倒單擺模型和虛擬斜面法去規劃行走軌跡。然而，使用倒單擺模型，機器人上半身是固定不動的。上半身的固定使得機器人不能通過扭動腰部來修正自己的走路姿態，分擔腿部馬達所出的力。此外，經過驗證，虛擬斜面法並不能證明其遇到比倒單擺模型更加複雜的其他模型時的正確性。所以這種方法不能直接運用在我們提出的新模型上。因此，本文提出了一種名為樓梯坡度轉換的新方法來解決這一問題。同時文章的實驗和模擬證明了本文的觀點。

關鍵字

三質心角動量模型；雙足機器人；爬樓梯；樓梯斜面轉換方法

並列摘要

The approaches of biped walking robots have been proposed to overcome several situations, such as walking on uneven terrains, circumventing obstacles, collision avoidance, push recover, striding across obstacles, climbing stairway. In order to maintain balance, the stability of biped robots is crucial and fundamental. The zero moment point (ZMP) theory has been proposed for determining whether robots fall down or not. If ZMP exceed the scope of the polygon of the feet, the biped robots will fall down. Some simplified models have been proposed based on ZMP. Linear inverted pendulum model (LIPM), one-mass model, uses the limited dynamic parameters, concentrating total mass and angular momentum on one point. To reduce the model error of LIPM caused by mass, three-mass model and multiple masses inverted pendulum model (MMIPM) are developed. Apart from these, to reduce the error caused by moment of inertia, there is an improved model replace the point mass by a flywheel to explicitly represent embodiment of the centroid moment of inertia. To further improve the accuracy of model, we propose a new model that combine three-mass and angular momentum, named three-mass with angular momentum model. The proposed model not only take trunk's rotation into account and also consider the effect of the rotational inertia of two legs. There are many research effects in the past for biped robot climbing stairs, virtual slope method for planning walking trajectory has been proposed based on one-mass model. However, using one-mass model does not considerate the rotation of the trunk. With the proposed model, it gains the freedom of using trunk rotation to reduce the moment of the support leg when climbing stairs. Moreover, due to the difficulty in verifying the correction of the virtual slope method with any models more complex than one-mass models. The virtual slope method cannot be directly used with proposed model. Therefore, this paper propose a new method named Stair-slope Transform Approach to solve this problem. The validation of this model and the method is confirmed from the simulations and experiments.

並列關鍵字

Biped Robot ； Stair Climbing ； Three-mass with Angular Momentum Model ； Stair-slope Transform method

參考文獻

[1] Yu Zheng, M.C. Lin and D. Manocha, “A walking pattern generator for biped robots on uneven terrains”, in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, 2010, pp. 4483-4488.

[2] T. Sato and K. Ohnishi, “Walking Trajectory Modiﬁcation with Gyroscope for Biped Robot on Uneven Terrain”, in Industrial Electronics (ISIE), 2011 IEEE International Symposium on, 2011, pp. 969-974.

[3] R. C. Luo, P. H. Chang, J. Sheng, S. C. Gu, and C. H. Chen, “Arbitrary Biped Robot Foot Gaiting Based on Non-Constant COM Height,” 2013 IEEE-RAS International Conference on Humanoid Robots.

[4] R. C. Luo, J. Sheng, P. H. Chang, C. C. Chen, and C. I. Lin, “Biped Robot Push and Recovery Using Flywheel Model Based Walking Perturbation Counteraction,” 2013 IEEE-RAS International Conference on Humanoid Robots.

[5] N. Kalamian and M. Farrokhi, “Dynamic Walking of Biped Robots with Obstacles Using Predictive Controller”, in Computer and Knowledge Engineering (ICCKE), 2011 1st International Conference on, 2011, pp.105-110.

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基於三質心角動量模型及階梯斜面轉換之爬樓梯雙足機器人

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