具彈性與滾動介面之足動態模型開發與其之基礎模型角色以誘發六足機器人多種動態步態

Development of Dynamic Legged Models with Rolling Contact and Their Role as Templates for Inducing Dynamic Gaits on a Hexapod Robot

黃群凱(Chun-Kai Huang)

指導教授 ： 林沛群

國立臺灣大學/工學院/機械工程學研究所/碩士(2014年)

https://doi.org/10.6342/NTU.2014.10204

摘要

工程科學的蓬勃發展伴隨著生命科學的演進，促使了仿生機器人領域在近幾年間的蓬勃發展。而其中以致力於達成動物靈活且流暢的動態運動能力為目標的足式機器人最具代表性，而其研發基礎與其背後的學理，皆需倚賴仿生的概念與動態模型的開發，以及系統整合的技術。本論文以描述生物動態運動常用且能量守恆的倒單擺模型SLIP為出發點，致力於探討實驗室先前草創具滾動特性模型R-SLIP以及新發展雙足模型Two-leg的動態特性與穩定機制，在無因次下進行完整的評估。之後，並以此兩模型為機器人控制的基礎模型，以其穩定動態軌跡來誘發機器人上之動態步態，在這類型不需參數學習或最佳化的控制架構下，成功的在機器人上生成jogging、pronking與bounding三種多足生物上具有的動態步態，確認複雜步態可以用簡化基礎模型概略表述的可行性，並以量化分析比對機器人外顯行為和簡化模型之間的同與異。此外，模型的趨勢也與生物力學的研究結果相吻合，確認模型不僅能用於機器人的步態開發，也能反思探索動物的運動行為。

關鍵字

動態模型 ； 仿生 ； RHex機器人 ； 動態步態 ； 穩定性分析 ； Pronking步態 ； Bounding步態

並列摘要

As knowledge in engineering and life sciences has advanced, so too has the field of bio-inspired robotics. Legged robots that attempt to emulate the agile and smooth locomotion of legged animals is the most impressive example of this progress. The development of bio-inspired robotics, together with its underlying scientific principles, depend on several factors, including bionics, research of dynamic models, as well as the integration of the entire system. This thesis starts from a passive model, a “spring loaded inverted pendulum” (SLIP) model, which offers a classical guide for animal motion. Following this beginning, a previously-developed Rolling SLIP model and a newly-proposed Two-leg model are utilized to understand the dynamics and stability property of the system through non-dimensional analysis. Then, based on these two models, the framework of a model-based control strategy is addressed to induce dynamic locomotion on the robot. By using this control strategy, and without any optimization or parameter-tuning effort, the robot can perform jogging, pronking and bounding gaits. This result indicates that the complex gait behavior of animals can be realized by exploiting a simple model. In addition, the similarities and differences between the robot’s behavior and the reduced-order model can be discovered via quantitative analysis. Several facts demonstrate that the stability property of the model is in agreement with the study in biomechanics, which further implies that dynamic models can be employed for creating dynamic locomotion as well as understanding animal motion.

並列關鍵字

dynamic model ； bionics ； RHex robot ； dynamic locomotion ； stability analysis ； pronking gait ； bounding gait

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