四足機器人姿態穩定控制器之設計

A study on the design of the posture and balance controller for the quadruped robot

廖書慶(Shu-Ching Liao)

指導教授 ： 沈金鐘

共同指導教授 ： 季永炤(Yeung-Jaw Jih)

國立虎尾科技大學/工程學院/機械與機電工程研究所/碩士(2010年)

https://doi.org/10.6827/NFU.2010.00108

摘要

本論文在於建構一個能夠保持四足機器人姿態穩定與平衡之伺服控制系統，以控制四足機器人於非平坦路面行走時亦能保持機體姿態之平衡與穩定。一般四足機器人姿態平衡控制之研究，皆以結合數個感測器回饋之閉迴路控制並且透過繁複之反運動學與運動學運算為之，本研究則以單一之機體姿態感測器回授來進行機體運動姿態控制之推論以減少運算量，同時採取硬體模擬設計之概念來發展其控制法則。
足型機器人在行進時，如果其本體能夠具有良好的穩定性，則不但可以增加其於崎嶇路面行走與對障礙物跨越之能力，同時亦可使其配載之各類環境感測系統如視覺與紅外線等有較好之性能。本研究以四足機器人為行動機構平台對其建構一個姿態穩定伺服控制器來對其於運動中進行姿態穩定控制，其中伺服控制是以足型機器人運動學為基礎模型推算出各運動伺服馬達之運動命令參數，再以PID控制法來修正之以增加系統穩定性。
本研究以PIC16單晶片製作其控制器，最後以實體四足機器人行走於不同斜面及攀越障礙等運動方式應證其控制之效能。

關鍵字

四足機器人 ； 姿態穩定 ； 運動學 ； PID控制

並列摘要

This paper discusses the development of a posture and balance control system for a 4-legged robot while moving around uneven ground. In general, the motion of quadruped robot is usually studied by using the close loop gait control combining with joint sensors feedback through the complicate mechanism model and huge amount of computation. Instead, this study reduces complicated operations and computation by using the control algorithm based on single posture sensor which measures only the body posture of the robot. The Hardware-in-the-Loop technique were employed for a fast development of the control algorithm based on the body kinematics.
The stability of the legged-robot is essential for providing better perceptional results for its real time sensory system such as the vision system and infrared system while travels through the rough terrain or climbs across obstacles. In this paper, a posture and balance controller is designed and implemented on a quadruped robot to keep it stable in motion. First, the mechanism of the robot is introduced with the stance control and the mode of the walking. Then, the posture control inference sub-controller constructed by using kinematics model is discussed. The controller uses a PIC16 microchip as its core processor. The posture control inference rules are embedded within the PIC microcontroller and posture sensor feedback is used to keep the quadruped robot in stable in real time. The experimental result shows the effectiveness of this posture and balance controller for a physical robot used in this study. Also, the future prospect of such research is discussed.

並列關鍵字

4-Legged Robot ； Posture Control ； Kinematics ； PID Control

參考文獻

[1] B. Siciliano and O. Khatib, Springer Handbook of Robotics, Part B

[2] M. E. Rosheim, Leonardo's Lost Robot. New York: Springer Berlin Heidelberg, 2006.

[3] R. S. Mosher, "Handyman to Hardiman," SAE Report 670088, 1967.

[4] M. E. Rosheim, Robot Evolution: The Development of Anthrobotics. New York: John Wiley & Sons, Inc., 1994.

[5] M. Vukobratović and J. Stepanenko, "On the Stability of Anthropomorphic Systems," Mathematical Biosciences, vol. 15, pp. 1-37, October 1972.