多自由度雙足機器人之設計與控制實現

Design and Implementation of a Multi-Degree Biped Robot

陳盈翰(Ying-Han Chen)

指導教授 ： 王文俊

國立中央大學/資訊電機學院/電機工程學系/碩士(2006年)

摘要

本論文乃是設計及製作一台雙足式機器人，使其能非常順利平穩的前進、後退行走、上下樓梯、坐下、翹腿、站起、跪下，另外在跌倒後能自我判斷倒下的面向，來決定需不需要翻轉身體、再自動爬起、站立。在機器人機構上採用壓克力組成基本腳部的骨架，動力上採用AI-1001馬達，以RS-232協定封包控制其角度，並偵測其角度回傳值以作為控制參數，機構上雙腳共計使用了10個馬達自由度來加強平衡的穩定性。控制法則上以多重混合控制，包含虛擬齒輪、鏡射、扭力控制、線性平滑化、非等距內插、重心偏移補償及有限狀態機等設計，構成基本的移動動作核心技術。另外在智慧型行動策略的設計上，主要藉由外部資訊來達到狀態機的激發與切換，包含方向感測器得知機器人跌倒後的面向，以決定站起的流程，另外還有利用座標系的推算來得知抬腳的高度，可以在不靠外加感測器的情況下就獲知樓梯的存在。以最少的複雜度設計來達到最複雜的動作可能，更是此作品研究的重點之一。本論文的目標為讓機器人的動作流暢，有最佳協調性及最佳行動軌跡，極近似人類動作並賦予一定程度的自我思考與修正能力將是本論文的最大成就。

關鍵字

個人數位助理 ； 多自由度 ； 雙足機器人

並列摘要

The goal of this thesis is to design a biped robot which can walk forward and backward smoothly, go up and down stairs, sit down and lift legs, stand up and kneel down. It can also stand up automatically when it falls down. The structure is mostly made up of acrylic boards and using AI-1001 motor as actuator. We can control the degree of the motor through control package with RS-232 protocol and use its response package to detect the angle of the motor for adjust control parameter. The fundamental control strategies contain virtual gear, mirror relation, torque control, linear interpolation, nonlinear interpolation, center of gravity compensation and finite state machine etc. In the design of the intelligent interaction, we use external information to switch the state and the robot can determine the process itself by the data from the orientation sensor. Moreover, the robot can act correctly whether the stairs exist or not by calculating the height of the lifted leg without using any sensors. One of the focal point is using the simplest design to make it act complicatedly. The experiment results also show that the robot can have some intelligent interaction and adaptive ability. Briefly, the greatest achievement of this thesis is to make the robot move smoothly, have best balancing ability and well designed locomotion.

並列關鍵字

biped robot ； multi-degree ； PDA

參考文獻

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