基於線性倒單擺模型之雙足機器人步態規劃與跨步平衡

Walking Trajectory Planning and Stepping Balance of Biped Robot Based on Linear Inverted Pendulum Model

張楷尉(Kai-Wei Chang)

指導教授 ： 劉智誠

共同指導教授 ： 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(2021年)

https://doi.org/10.6846/TKU.2021.00579

摘要

本論文使用線性倒單擺模型規劃雙足行走軌跡，實現雙足行走功能，並利用姿態感測建立平衡控制器，使雙足機器人可於不平坦的人工草皮上行走，並提高雙足機器人抵抗外力干擾的能力。姿態感測平衡藉由量測雙足機器人的傾斜角度對其姿態進行修正；壓力中心平衡藉由壓力感測器測量雙足機器人的壓力中心位置，避免壓力中心偏離支撐區域而倒下；跨步平衡偵測雙足機器人是否受到外力干擾，並根據干擾的方向及大小修正跨步的位置。由實驗結果得知，本論文所提出之方法可使雙足機器人提高對外力干擾的抵抗性，使雙足行走的穩定度得到提升。

關鍵字

雙足機器人 ； 線性倒單擺模型 ； 平衡控制 ； 雙足行走

並列摘要

In this thesis, the linear inverted pendulum model is used to plan the biped walking trajectory to realize the biped walking function, and the posture sensing is used to establish a balance controller to enable the biped robot to walk on uneven artificial turf. It improves the ability of the biped robot to resist obstruction. The posture sensing balance corrects one’s posture by measuring the tilt angle of the biped robot. The Center of Pressure (CoP) balance uses some pressure sensors to measure the CoP of the biped robot. It prevents CoP deviating from the support area to fall. Stepping balance detects whether the biped robot is interfered by external force. It corrects the position of the stepping according to the direction and magnitude of the interference. Some experimental results illustrate that the proposed method can improve the resistance of biped robot to external force interference, and it improves the stability of biped walking.

並列關鍵字

Biped Robot ； Linear Inverted Pendulum Model(LIPM) ； Balance Control ； Biped Walking

參考文獻

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