仿生人形機器人系統的動力學分析與控制

人型機器人正變得越來越流行世界各地的今天。它們被用來在許多領域，空間科學，健康服務，工業，娛樂，人型機器人的開發，以執行人工任務，如的個人協助下，他們應該能夠協助老弱病殘，和骯髒或危險的工作。本論文的主要目標是模擬類人型機器人的流動性。使用RecurDyn仿真方法實現，我們的BIOLOID人形機器人的運動學和動力學分析。此外，流動性的分析將被討論。在這篇論文中，我們也採用了一些參考文件介紹零力矩點“和”前進“動態仿人機器人的運動學和動力學分析。最後，模擬結果顯示，我們的算法可以有效地提高系統的穩定性的人形機器人。

關鍵字

仿人機器人；機器人動力學與控制；向前運動；零力矩點；拉格朗目方程；歐拉矢量.

並列摘要

Humanoid robots are becoming more and more popular all over the world nowadays. They have been used in many fields: space science, health service, industry, entertainment, etc. Humanoid robots are developed to perform human tasks like personal assistance, where they should be able to assist the sick and elderly, and dirty or dangerous jobs . The main objective of this thesis is simulate the mobility of humanoid robot. Simulation method implemented by using RecurDyn, we analyze the kinematics and dynamics of BIOLOID humanoid robot. Moreover, the analysis of mobility will be discussed. In this thesis, we also used some reference documents to introduce about Zero-Moment Point and Forward Dynamics to analyze the kinematics and dynamics of humanoid robot. Finally, the simulation results display that our algorithms can efficiently enhance the stability of the humanoid robot.

並列關鍵字

Humanoid robot ； robot dynamics and control ； forward kinematics ； Zero-Moment Point ； Euler vector.

參考文獻

[6] (2007). Design and Control of a Biped Robot. Taipei.

[11] Teodoro, P. D. (2007). Development of a simulation environment of an entertainment humanoid robot.

[11] (2006). Walking Pattern Analysis and Control of a Humanoid Robot. Taipei.

[14] J. E. Keat. (1980). Multibody System Order and Dynamics Formulation Based on Velocity Transform Method.

[15] Y. L. Hwang. (2005). A new approach for dynamic analysis of flexible manipulator systems. Journal of Nonlinear Mechanics.

國際替代計量

仿生人形機器人系統的動力學分析與控制

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