互動雙足式機器人之設計與實現(II)雙足式機器人控制

The design and realization of interactive biped robots(II)basic motions'' control of biped robots

巫瑞永(JUI-YUNG WU)

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(2008年)

摘要

本研究「互動雙足式機器人之設計與實現」是由三位同學合力完成，共分為(A)手勢辨識、(B)雙足式機器人控制以及(C)互動演算法執行三個部分，而本論文是針對(B)項目做研究。
本論文乃是設計控制方法控制一對雙足式機器人，使它們能夠平順的執行前進、後退、平移、原地轉圈、蹲下、站起、鞠躬、伏地挺身等基本動作，最終將應用到兩機器人的互動合作表演中，使其能順利完成任務。基本動作的控制法則包含了扭力控制、線性內插平滑化、延遲時間控制、鏡射等方法；另外，為了達成兩機器人能合作搬運物體，本論文再開發機器人的夾取控制方法，讀取並分析馬達的回傳資訊，使雙手能夠有效夾緊不同寬度的物體，順利在互動表演中傳遞。總而言之，以多樣式混合控制方法，提高機器人的穩定度，完成個體機器人基本動作，並協助兩機器人在互動表演中成功演出，是本論文的最主要目標。

關鍵字

機器人 ； 雙足 ； 互動式

並列摘要

The study work “The design and realization of interactive biped robots” was completed by three members. Three members accomplish the following three tasks, respectively, (A) gesture recognition, (B) basic motions’ control of biped robots, and (C) execution of interactive algorithm for two robots. This thesis focuses on the part (B) basic motions’ control of biped robots.
The goal of this thesis is to design control techniques to control a pair of biped robots such that they can achieve the following basic motions, walk forward and backward smoothly, shift right and left, turn right and left, squat down and stand up, bow and push-up. Finally, these motions will be applied to the interaction between two robots. The control techniques for those basic motions contain “torque control”, “linear interpolation”, “delay-time control”, and “mirror projection” etc. Furthermore, in order to carry the object successfully, we also design a control strategy such that the robot can clip the object. In the clipping motion control, the robot can read and analyze the feedback information from the actuators of arms, and then clip the object tightly; even the width of the object is not measured in advance. In a conclusion, this thesis accomplishes the basic motions’ control of a robot and applies the control to the object transportation between two robots successfully.

並列關鍵字

interactive ； biped robot

參考文獻

[2] L. Geppert, “Qrio, the robot that could,” IEEE Spectrum, vol. 41, pp.34-37, 2004.

[9] F. R. Sias, Jr. and Y. F. Zheng, “How many degrees-of-freedom does a biped need?” The Proceedings of IROS’90 IEEE International Workshop on Intelligent Robots and Systems, Ibaraki, Japan, July 3-6, 1990, vol.1, pp. 297–302.

[12] F. Gubina, H. Hemami, and R. B. McGhee, “On the dynamic stability of biped locomotion” IEEE Transactions on Biomedical Engineering, vol.BME-21, pp.102-108, 1974.

[14] J. K. Hodgins and M. H. Raibert, “Adjusting step length for rough terrain locomotion,” IEEE Transactions on Robotics and Automation, vol.7, pp.289-298, 1991.

[18] 陳盈翰(王文俊教授　指導),　多自由度雙足機器人之設計與控制實現, 碩士論文, 國立中央大學電機工程學系, 2005.