二足機器人的步態規劃與實作

THE MOTION PLANNING AND IMPLEMENTATION FOR BIPED WALKING ROBOT

游英俊(Ying-chun Yu)

指導教授 ： 陸冠群

大同大學/工程學院/機械工程學系所/碩士(2004年)

摘要

本研究完成一部小尺寸二足機器人系統的相關理論推導與實作，仿效人類的步行運動，系統中一共含有10個自由度，左、右各5個自由度，其中髖關節二個自由度、膝關節一個自由度、踝關節二個自由度。
雖然機器人是一個三維的運動空間，由於我們的自由度的配置是呈現正交狀態，因此我們以二個二維平面運動空間來解析，恰好可以配合自由度的配置，進而控制一個三維的運動空間。
控制部份，以反向運動學來求取各關節應有的角度，再由已求得的各關節角度，以順向運動學與幾何學解析，求出機器人的ZMP (Zero Moment Point)，再透過一程序來尋找ZMP參數，藉以規劃機器人的姿態使ZMP落於穩定的範圍。另使用Cubic spline法來求取運動軌跡方程式，以控制狀態轉化時的慣性力使其具有平滑性與穩定性。

關鍵字

二足機器人 ； 步態規劃 ； 運動軌跡

並列摘要

This research completed the relevant theoretical deduction and implementation of a small-scale biped robot system. It imitates walking motion of human beings. This system contains a total of 10 degrees of freeform. There are six on the right and six on the left. Among them, the hip has three, the knee joint has one, and the ankle joint has two. Although the robot is in a three-dimensional movement space, the freedom layout presents in cross condition. Therefore, we utilize two two-dimensional motional spaces for analysis. This matches the degrees of freedom layout. It also further controls a three-dimensional motional space.
In the part of control, the reverse motion principle is used to derive all the angles for the joints. Then, utilizing the derived joint angles and the forward motion principle and geometry analysis to derive the ZMP(Zero Moment Point) of the robot. Then, a program is used to identify the parameters of the ZMP to plan the posture of the robot, so that ZMP falls in the stable regions. Then, Cubic spline method is used to derive the motion tracking equation that is used to control the inertia force caused by the condition change. This will make it smoother and more stable.

並列關鍵字

BIPED ； CUBIC SPLINE ； MOTION PLANNING ； ROBOT ； ZMP

參考文獻

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[3]M. Vukobratovic and D. Juricic, “Contribution to the synthesis of biped gait,” IEEE Trans. Bio-Med. Eng., vol. BME-16, no. 1, pp. 1–6, 1969

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[10] ASIMO Home page introduction

REFERENCES