二足機器人之動態平衡研究分析

A Study and Analysis of Dynamic Balance for a Biped Robot

倪世銓(Shih-Cyuan Ni)

指導教授 ： 王仲淳

元智大學/電機通訊學院/電機工程學系/碩士(2008年)

https://doi.org/10.6838/YZU.2008.00015

摘要

本論文主要探討二足機器人行走或受到外力干擾時，透過動態平衡控制使機器人行走更趨穩定並增強站立時穩定性。二足機器人動態平衡之實現，主要是將動態平衡控制程式撰寫於Nios II發展環境中，當二足機器人行走時利用腳底壓力感測器取得壓力值，運算及判斷二足機器人實際重心是否落在二足機器人支撐多邊形範圍內，並計算實際重心與期望重心之誤差，以模糊控制器將二足機器人重心控制於支撐多邊形範圍內，使二足機器人行走時能夠更加的穩定並改善二足機器人站立時的穩定性。

關鍵字

二足機器人 ； 零力矩點 ； 動態平衡控制 ； 抗干擾控制

並列摘要

This main purpose of this thesis is to study dynamic balance during walking or under external forces for biped robots, and also to make biped robots to enhance stability during walking and standing. The accomplishment of dynamic equilibrium for the biped robots results from the builtin-in dynamic control programs which are written in Nios development environment. To get the pressure values by the pressure sensors of biped robots, we could use the control algorithms to compute and decide the actual Center of Gravity (CoG) position and also to determine whether the resultant CoG falls in the area of supporting polygon for a biped robot. Furthermore, we could use the fuzzy controller to compensate errors due to the differences between the actual CoG and the theoretical CoG. The objective is to make CoG to fall in the supporting polygon area, and then the biped robots will walk more steadily and so improve the overall stability when standing.

並列關鍵字

Biped Robot ； ZMP ； Dynamic State Control ； Anti- Interference

參考文獻

[37]採智科技股份有限公司， http://www.idminer.com.tw

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