人形機器人上下階梯之阻抗控制

Impedance Control of Ascending and Descending Stairs for Humanoid Robot

林家弘(Chia-Hung Lin)

指導教授 ： 李祖添

淡江大學/工學院/電機工程學系機器人工程碩士班/碩士(2018年)

https://doi.org/10.6846/TKU.2018.00642

摘要

本論文設計與實現人形機器人的一個阻抗控制系統，主要有三個部分：(1)落地偵測、(2)位置阻抗控制器、以及(3)角度阻抗控制器。在落地偵測部分，在機器人踏步時腳底接觸地面的瞬間，使用六軸力量感測器來偵測機器人腳底在接觸地面時的衝擊力。在位置阻抗控制器部分，利用六軸力量感測器感測到與地面接觸時的衝擊力計算出回縮距離，用來調整中樞模式產生器產生的步態軌跡，以減少衝擊力帶來的影響。在角度阻抗控制器部分，感測機器人落地時產生的力矩，調整踝關節角度，使機器人腳底與地面保持平行。實驗結果顯示，當人形機器人的腳底接觸地面時，本論文所使用的阻抗控制能夠抵銷掉機器人踏步時所產生的反作用力，因此所提出的方法確實可以有效的減緩機器人的腳底接觸地面時所產生的衝擊力，並減少馬達損耗。

關鍵字

人形機器人 ； 阻抗控制 ； 中樞模式產生器 ； 上下階梯 ； 行走步態

並列摘要

In this thesis, a Impedance control is designed and implemented for humanoid robot. There are three main parts: (1)landing detection, (2)positional impedance controller, and (3)angle impedance controller. In the landing detection, using a 6-axis force sensor to detect if the robot’s foot is currently landing, and transmit the force received on landing to the computer. In the positional impedance controller design part, using the 6-axis force sensor to sense the impact force when in contact with the ground to calculate the retraction distance, and joins the gait trajectory generated by the central pattern generator to reduce the influence of the impact force. In the angle impedance controller design part, using the 6-axis force sensor to sense the torque when the robot is dropped to calculate the angle of the ankle joint so that the sole of the robot is kept parallel to the ground. As the result of the experiment, the proposed Impedance control allows the robot is able to counteract the reaction force when the foot of a humanoid robot lands. Therefore, the proposed method can efficiently reduce the impact force generated.

並列關鍵字

Humanoid Robot ； Impedance Control ； Central Pattern Generator ； Ascending And Descending Stairs ； Walking Gait

參考文獻

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