二足步行機器人的設計製作與軌跡規劃

The Desingn Implementation and Plan Trajectory of a Biped Walking Robot

余佳擁(Jia-yong 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

論文主要的目的在發展一小型二足步行機器人，首先針對機器人自由度加以分析，進行二足步行機器人機構設計，選用EYEBOT MK-4為二足步行機器人的控制器，致動器選用RC伺服機，二足步行機器人高度36公分，重量1.5公斤。
本論文另一個研究的重點在於如何產生二足步行機器人穩定的平衡步行軌跡，為了瞭解二足步行機器人步行時的穩定度，推導二足步行機器人的數學模型，以D-H座標系統定義二足步行機器人的座標連桿系統，以轉移矩陣法得到順向運動學公式，並以幾何學推導機器人的反向運動學公式，使用Newton-Euler法推導其動態方程式，最後以基因遺傳演算法搜尋二足步行機器人的穩定平衡的移動軌跡。

關鍵字

二足步行機器人

並列摘要

The purpose of this thesis is to build a small biped walking robot with 36 cm height and 1.5 kg weight. The robot was first analyzed and simulated through degree of freedom and then build for experimental validation. The controller and actuators used in this biped robot are EYEBOT MK-4 and RC servos, respectively.
This thesis tries to find a stable and balanced trajectory employing Genetic Algorithms. A math model was established using D-H coordinated system. Direct kinematics was attained by transition matrix method, and then its inverse kinematics was constructed by geometry. The robot dynamics was calculated through Newton-Euler equation. The biped robot built in this study validates the performance of this method

並列關鍵字

biped walking robot

參考文獻

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[ 2 ] F.Miyazaki, and S. Arimotr, “A Control Theoretic study on Dynamical Biped Locomotion,” ASME. Journal of Dynamic Systems, Measurement and Control, Vol. 102, pp. 233-239, 1980.

[ 5 ] Q. Li, A. Takanishi, and I. Kato, “A Biped Walking Robot Having A ZMP Measurement System Using Universal Force-Moment Sensor,”IEEE/RSJ International Workshop on Intelligent Robots and System IROS’91，Nov. 3-5, pp. 1568-1573, 1991.

[ 8 ] A. Sano, J. Furusho,“Control of Torque Distribution for the BLR-G2 Biped Robot,”Fifth International Conference on Robots in Unstructured Environments’, 91 ICAR, Vol. 1, pp.729-734, 1991.

[ 10 ] J.A. Golden and Y.F.Zheng,“Gait Synthesis for the SD-2 Biped Robot to Climb Stairs,”International Journal of Robotics and Automation 5, pp.149-159,1990.