雙足機器人之系統動態建立與步態分析

Modeling of a Biped Robot and Gait Analysis

陳彥霖(Yen-Lin Chen)

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(2011年)

https://doi.org/10.6342/NTU.2011.02160

摘要

本文旨在建立一個簡化的雙足機器人模型。並利用此模型去描述有關機器人重心在垂直方向的運動。為了簡化控制系統，我們必須加上一些動態和幾何上限制以期能夠更簡單的控制此系統。本文針對雙足機器人的各種步態和不同步態間的過渡步態加以分析，藉此資訊可以有效的規劃機器人的軌跡。此外，機器人重心高度在步態變換時，是隨時改變的。換言之，可變重心高度的雙足機器人是一種時變系統。本文，利用最佳控制來控制雙足機器人系統，並估測系統的未來狀態。在某些情況下壓力中心(COP)和零力矩點(ZMP)並不相同。因此，須用一個權重來調整回饋回來的ZMP值，以期控制器能更快速的補償不穩定的系統。除此之外，也使用阻抗控制和規劃降落的軌跡，以有效改善降落所產生的衝擊。
模擬和驗證所提方法確可控制機器人達成重心高度改變的步態和跳躍。

關鍵字

雙足機器人 ； 跳躍 ； 降落的衝擊 ； 最佳化控制 ； 步態分析 ； 雙足模型

並列摘要

The central theme of this thesis is the construction of a simplified biped robot model with the ability to generate arbitrary vertical movement of its center of gravity (COG). We have designed constraints to make the robot’s dynamics and kinematics as simple as possible, and we analyze and derive the equations for controlling the robot well. We also discuss the different phases of motion and the transition phases between them, so that we have sufficient information to control the robot and plan its trajectory efficiently..
A biped robot with variable COG height is a time varying system. The optimal control is employed for the control of the system, and the system, states will be estimated. At those points in the movement cycle when the center of pressure (COP) is predicted not to coincide with the zero moment point (ZMP), a weighting function is applied in order to rapidly compensate for the incipient imbalance. In addition, compliance control and landing planning are considered to reduce the landing impact.
The simulations of walking with varying COG height and hopping are conducted to verify the proposed algorithm.

並列關鍵字

Biped robot ； hopping ； landing impact ； optimal control ； gait analysis ； biped model

參考文獻

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