HR1-NFU人形機器人前向運動學之研究

Development of the forward kinematics for the humanoid robot of HR1-NFU

張何英(Ha-Anh Truong)

指導教授 ： 李廣齊

國立虎尾科技大學/工程學院/自動化工程系碩士班/碩士(2017年)

摘要

這個碩士論文涉及類人機器人的發展，這使人類走路。 雖然類人機器人的集約化和實驗性發展是不同的，但是進一步提高他們使人形機器人能夠自動，智能化，適應真實環境和人類的能力是重要的。 因此，我們參與了類人機器人的研究，稱為“HR1-NFU”。 已經開發了描述系統的完整模型。 在這個項目中，在構建機構模型之後，我們專注於開發HR1-NFU的驅動，控制和運動學。在任何機器人控制器中，正向運動學和逆運動學都是至關重要的，特別是類人機器人。 實現穩定的雙足步行是理論依據和關鍵技術。 因此，人形機器人的運動學和控制是本論文的主要目標。

關鍵字

人型機器人 ； 前向運動學

並列摘要

This master’s thesis concerns the development for a humanoid robot, which enables human-like walk. Although the intensive and experimental developments of humanoid robots are different, but it is important to further improve their ability to make humanoid robots can be automatic, intelligent and adaptable to the real environment and human. As a result, we were involved in the research of humanoid robot, called “HR1-NFU”. A complete model describing the system has been development. In this project, after building the mechanism model, we focus on developing driver, control and forward kinematic of the HR1-NFU.
Having the forward is vital in any robot controller particularly for a humanoid robot. It's the theoretical basis and key technology to realize stable biped walking. Therefore, the forward kinematics and control of humanoid robot are the main objectives of this thesis. Firstly, the relations transferring from the base coordinate that attached at the waist of robot to the position and the orientation of the all joints is obtained by forward kinematics based on Denavit-Hartenberg formulation. In this investigation, the forward kinematics give the way to outline the solution of the robot from its own particular multi-dimensional joint space to the three-dimensional physical space in which the robot works. Stable walk steps depend on the capacity of the robot to take after arranged directions with its feet; this is impractical without some system that enables the robot to set its joints to edges that drive the feet to focuses along such directions.
Finally, we used some reference documents to introduce balancing for robot. Balancing method depend on the capacity to figure the center of gravity of the robot, which is always showing signs of change as the robot moves; finding the GC is made conceivable, just if the exact position and orientation of each part of the robot in the three-dimensional space is known, an example of forwarding kinematics. It is very justifiable that any kinematics calculations must be performed progressively to be helpful in walking motions.

並列關鍵字

Humanoid Robot ； Forward Kinematics

參考文獻

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