可作為運動意圖分析工具之仿真雙足機器人模擬

A Simulated Biped Model for Human Gait Intention Identification

籃士傑(Shih-Chieh Lan)

指導教授 ： 顏家鈺

國立臺灣大學/工學院/機械工程學研究所/碩士(2021年)

https://doi.org/10.6342/NTU202101696

摘要

近年來，隨著科技進步，輔助型外骨骼逐漸從醫療復健領域向外延伸至軍事應用。然而，如今的人類動態模型幾乎完全取決於肌肉骨骼建模和動態模擬。如此的仿真模型通常不便於在人體外側增加外骨骼模型。因此本論文建立一雙足機器人模型，目的在於模仿真實人體走路姿態，並在未來嘗試將外骨格模型套用於此模型上。
首先，我們以受測者身高體重、肢體長度等資訊建立一雙足機器人模型，並在腳底板安裝力感測器，讓雙足機器人的腳底板與地板可以產生交互作用力。其次，輸入受測者走路時的各關節角度於雙足機器人的髖關節、膝關節以及踝關節，讓雙足機器人得以以人類走路姿態行走。
最後，參考3D倒單擺模型、計算雙足機器人零力矩點(ZMP)，並套用Cart Table Model來設計控制器，使雙足機器人可以在控制器輔助下，以人類步態保持平衡並順利地向前行走。

關鍵字

外骨骼 ； 雙足機器人 ； 零力矩點 ； Cart Table Model ； 壓力中心

並列摘要

In recent years, with the advancement of science and technology, auxiliary exoskeleton has gradually extended from the field of medical rehabilitation to military applications. However, today's human dynamic model is almost entirely dependent on musculoskeletal modeling and dynamic simulation. Such a simulation model is usually inconvenient to add an exoskeleton model on the outside of the human body. Therefore, this thesis establishes a biped robot model with the purpose of imitating the walking posture of a real human body and will try to apply the exoskeleton model to this model in the future.
First, we build a biped robot model based on the height, weight, limb length, and other information of the subject and install a force sensor on the bottom of the foot, so that the bottom of the biped robot can interact with the floor.
Secondly, we input the angles of each joint of the subject while walking into the hip, knee and ankle joints of the biped robot, so that the biped robot can walk in a human walking posture.
Finally, we refer to the 3D inverted pendulum model, calculate the zero moment point (ZMP) of the biped robot, and apply the Cart Table Model to design the controller, so that with the help of the controller, the biped robot can keep its balance and move forward smoothly with a human-like gait.

並列關鍵字

exoskeleton ； biped robot ； zero moment point ； cart table model ； Center of Pressure

參考文獻

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