基於B-Spline曲線之人形機器人踢球動作規劃

Kicking Motion Planning of Humanoid Robot Based on B-Spline Curves

賴偉凡(Wei-Fan Lai)

指導教授 ： 劉智誠

共同指導教授 ： 李祖添(Tsu-Tian Lee)

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.2020.00831

摘要

本論文提出一種人形機器人之踢球動作的規劃方式，並實現在FPGA結合ARM處理器的SoC系統。本論文使用B-Spline曲線規劃踢球動作的軌跡，再透過逆運動學求得各軸關節馬達之轉動角度，進而執行踢球的動作，以此解決調整預設動作所花費的時間，也改善了踢球力道不足與踢球範圍過小之問題。機器人在踢球過程進行收腳動作時，機器人會因為自身重量的影響導致上半身傾斜，使機器人的踢球腳放置地面時容易過度用力踏地而造成自身的不穩定，甚至跌倒，因此本論文加入了姿態平衡控制來解決此問題。姿態平衡控制先以慣性量測單元(Inertial Measurement Unit, IMU)計算出機器人的上半身姿態，然後控制機器人的上半身垂直於地面，以此讓機器人在踢球時保持平衡。由實驗結果可得知，本論文所提出之踢球動作的規劃方式，能夠有效降低調整的花費時間，並且改善踢球力道與增加踢球範圍，以及提升踢球的穩定性，使機器人能順利完成踢球動作。

關鍵字

人形機器人 ； 踢球 ； 軌跡規劃 ； B-Spline曲線 ； 平衡控制 ； 姿態控制

並列摘要

In this thesis, a kicking motion planning of humanoid robot is proposed and designed on a SoC system which integrates a FPGA and a ARM processor. In this thesis, the B-Spline curve is used to plan the trajectory of kicking ball motion. The rotation angle of the joint motor of each axis is obtained by the inverse kinematics. Then the kicking motion can be performed. The proposed method can effectively reduce the time that spent adjusting the original motion. It also improves the problems of insufficient kicking power and less kicking range. When the robot returns its kicking foot during kicking motion, the upper body of the robot tiles due to its own weight. It makes the robot's kicking foot easily step on the ground with excessive force and cause its own instability and even fall. Therefore, this thesis uses posture balance control to solve thses problems. On the part of posture balance control, First, inertial measurement unit (IMU) is used to estimate the upper body posture of the robot. Then the upper body of the robot is controlled to be perpendicular to the ground to keep the robot balanced when the robot kicking. The experimental results show that the proposed method of kicking motion planning can effectively reduce the time spent on adjustments, improve the kicking force, increase the kicking range, and improve the stability of kicking. So that the robot can successfully complete the kicking motion.

並列關鍵字

Humanoid Robot ； Kicking ； Trajectory Planning ； B-Spline Curve ； Balance Control ； Posture Control

參考文獻

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