基於足部感測器之人型機器人步行軌跡規劃

Walking Gait Pattern Planning for a Humanoid Robot Based on Foot Sensors

楊瑋軒(Wei-Hsuan Yang)

指導教授 ： 黃漢邦

國立臺灣大學/工學院/機械工程學研究所/碩士(2012年)

https://doi.org/10.6342/NTU.2012.10251

摘要

本文旨在發展一基於足部感測器的地面偵測系統，此系統為一用於輔助步行的偵測系統，進而發展一即時重新規劃軌跡之控制器，以提高機器人行走於未知地面的穩定度。為了探討本文發展之方法，本文針對人型機器人斜坡行走問題進行討論、驗證。
為了使人型機器人能在未知環境中自由穩定地行走，機器人對於環境中地面資訊的認知是相當重要的。為了盡可能地降低未知環境對於機器人的不良影響，如來自地面的衝擊力，本文利用非接觸性感測器的特性，幫助機器人得以及時獲得腳步下的地面資訊，進而提早準備，以減少接觸地面時可能產生的衝擊力，進而提高行走於未知的地面的穩定性。本文亦同時探討一基於此地面偵測系統之地面資訊分析方法及一即時重新規劃軌跡之控制器，用於解讀地面偵測系統獲得知地面資訊，並進一步重新規劃符合此未知地面資訊之腳步軌跡，使機器人得以成功地行走於未知地面。最後實現提出之地面偵測系統及重新規劃軌跡控制器於實驗室所發展之人型機器人，並進行相關之模擬及實驗。

關鍵字

未知地面資訊偵測 ； 軌跡重新規劃 ； 回授控制 ； 斜坡行走

並列摘要

The purpose of this thesis is to develop a sensor-based detection system installed in the robot’s foot. This system is used to improve the stability of the robot walking on unknown ground. The re-planning controller is also developed to increasing the walking stability on unknown surface. In order to explore the development of this thesis, the slope walking problem of the humanoid robot will be discussed and validated.
In order to enable the robot to walk freely and stably in an unknown environment, the robot’s cognition of environmental information is very important. For reducing the effect from unknown surface, like external impact force. The non-contact characteristic of sensor is used in this thesis, then robot can obtain timely information about the ground and then prepare in advance. Then the impact force can be reduced and the walking stability will be increased. This thesis will also explore a ground information analysis method based on the surface detecting system, and then develop a real-time trajectory re-planning controller to analyze the ground information and re-plan the trajectory. The desired surface detecting system and re-planning controller are realized in proposed robot for simulations and experiments.

並列關鍵字

Unknown Surface detecting ； Trajectory Re-planning ； Sensor Feedback control ； Slope Walking for Humanoid Robot

參考文獻

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