基於線性倒單擺模型之人形機器人的行走平衡

Walking Balance for Humanoid Robots based on Linear Inverted Pendulum Model

王友志(Yu-Chih Wang)

指導教授 ： 劉智誠

淡江大學/工學院/電機工程學系機器人工程碩士班/碩士(2020年)

https://doi.org/10.6846/TKU.2020.00791

摘要

本論文基於線性倒單擺模型設計人形機器人的雙足行走步態，首先透過線性倒單擺模型建立行走軌跡產生器，用以實現機器人雙足行走之功能，以及減少機器人行走步態參數設定上的難度。接著利用感測器建立回授系統，感知機器人行走時的狀態，其中姿態感測器量測機器人身體的傾斜角度與壓力感測器計算機器人的零力矩點(ZMP)。最後透過回授系統所感知的機器人狀態建立行走平衡穩定器，分別針對機器人身體的姿態與踏步位置進行控制，使機器人在行走期間達到自身的平衡。由實驗結果得知，本論文所設計之方法完成雙足行走之功能並降低行走步態參數設定上的困難，並且有效提升行走的穩定度。

關鍵字

線性倒單擺模型 ； 人形機器人 ； 雙足行走 ； 零力矩點

並列摘要

In this thesis, a biped walking gait of humanoid robot based on linear inverted pendulum model is designed. First, a walking trajectory generator is established by linear inverted pendulum model to realize biped walking of robot, and reduce the difficulty in setting walking gait parameters. Then, feedback system is built by sensors to sense the state of the walking robot. Inertial measurement unit measures the tilt angle of robot, and force sensing resistor calculate the zero moment point (ZMP) of robot. Finally, a walking balance stabilizer is generated by the state of the walking robot from feedback system. Controlling posture of robot and step position respectively, so that robot achieves its own balance during walking. Some experimental results are presented to illustrate that the proposed method not only completes biped walking function and reduces the difficulty in setting walking gait parameters but also improves the stability of walking effectively.

並列關鍵字

Linear Inverted Pendulum Model(LIPM) ； Humanoid Robot ； Biped Waling ； Zero Moment Point(ZMP)

參考文獻

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