- 學位論文
具滾動介面之新式彈性倒擺模型與其應用於六足機器人動態跑步步態開發
A novel spring loaded inverted pendulum with rolling contact and its application on developing dynamic jogging gaits in a hexapod robot
摘要
本文由彈性倒擺模型(Spring Loaded Inverted Pendulum-SLIP model)出發，針對如何讓機器人有SLIP樣式的動態運動作研究，一開始對於運動軌跡固定只剩下腳部旋轉頻率可調整的RC六足機器人，藉由簡化動態方程式挑選腳部彈性係數來讓機器人有類似於SLIP動態的運動方式，並用數值模擬方式試圖更精確地找出哪段步伐頻率下會以SLIP運動模式運作。由於SLIP模型中的理想線性彈簧腳難以製作，有些機器人設計開始採用RHex系列的彈性半圓腳，彈性半圓腳具有滾動運動以及等效彈性係數隨接觸點變化的特性，傳統SLIP模型與半圓腳運動特性可能會有所不合，故本文開發了兩種針對彈性圓形腳特性的運動模型，分別為單自由度滾動模型以即雙自由度滾動模型，並比較實際機器人運動狀態以及模型模擬結果來驗證模型的正確性。為進一步探討彈性圓型腳與現性彈簧腳造成運動上的差異性，本文以單自由度滾動模型為基礎，利用數值方式分析彈性圓形腳系統的運動特性並與一般SLIP模型作比較，檢視兩種模型在不同落地狀態下的穩定性，以及透過模擬檢視落地狀態的不同會如何影響模型運動，提供穩定性以及系統控制參考。透過模型運動分析發現圓型腳模型同SLIP模型有所謂“self-stable”的步態存在，若機器人能以此步態運動，則理想上可使能量效益提升，因此本文利用雙自由度滾動模型生成機器人跑步運動的腳部軌跡，找出能讓系統順從慣性運動的腳部軌跡設計方法，讓機器人跑步軌跡設計系統化。
並列摘要
This thesis starts from the SLIP (Spring Loaded Inverted Pendulum) model to study how to let robot work with SLIP-like locomotion. At first for a hexapod robot with fixed walking gait, there is only stride frequency adjustable, with simplified SLIP dynamical equation to choose stiffness of leg and let robot works with SLIP-like locomotion. And by simulation with SLIP model the range of stride frequency with which robot can work with SLIP-like locomotion can be found. Because the desired linear spring leg in SLIP model is hard to fabricated, the elastic circular leg in RHex series is adopted in some design of robot. The circular leg has the characteristic of rolling motion and the equivalent stiffness changes with different contact point. So the motion approximated by traditional SLIP model may not fit the motion of circular leg, two dynamic model of circular leg are developed, the first one is one degree of freedom rolling SLIP model and the second one is two degree of freedom rolling SLIP model. And these models are evaluated by comparing the motion of robot and the simulation of models. To study the difference between the motion of robot with circular leg and linear leg, with one degree of freedom rolling SLIP model, the dynamics of circular leg is analyzed and compared with traditional SLIP model. With simulation the stability of two systems with different landing state can be verified and how landing states affect motion of system can also be found as the reference of stability and motion control of system. With above analysis, it is found that the system with circular leg has “self-stable” gait, just as SLIP model; if robot can work with this gait, the energy efficiency can be improved in theory. Therefore the gait of hexapod robot running motion is produced with two degree of freedom rolling SLIP model to let the motion of leg follow the inertia of system. Moreover the running gait of robot can be produced in a systematized way.
參考文獻
延伸閱讀
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