二足機器人之步行軌跡規劃

Walking Trajectory Planning for a Biped Robot

朱家慶(Chia-Ching Chu)

指導教授 ： 陸冠群

大同大學/工程學院/機械工程學系所/碩士(2006年)

摘要

在本研究當中針對一個有 12 個自由動的二足機器人做離線式的步行的軌跡設計。為了加強單純的反向運動學所設計的步行軌跡，利用單一馬達扭力的計算公式作為為基礎，推導出幾個步行過程當中會出現的姿勢所需要的扭力計算公式作為限制條件，使得設計出的軌跡具有更高的可實行性。
在軌跡的反向運動學方面，將機構分為兩個平面計算，並且將一個多軸的機構簡化為數個較為單純的二軸機構結合，避免多軸機構過於複雜而需要使用數值方法來作計算造成的誤差。
最後將計算出的路徑軌跡套用到實際的機器人上，讓機器人可以做出直走以及轉向的動作。

關鍵字

零力矩點 ； 質心 ； 扭力 ； 穩定範圍

並列摘要

This thesis will plan some off-line walking trajectory for a 12 DOF biped robot. Those trajectories are walking straightly, and turning. For those
purpose, the walking trajectory Planning must consider about the torque output limit of motors. Thus, the research will compute the motor’s torque during walking, and set it as constrains.
When planning the walking trajectory, this research will generate independent trajectory on coronal plane and sagital plane, and combine to a 3D trajectory. The mechanism will use two two-link mechanisms for trajectory generating, and combining all the two-link mechanisms that is the trajectory of the whole mechanism.
Finally, the off-line trajectory will apply in the real biped robot, and check it available or not.

並列關鍵字

ZMP ； center of mass ； torque ； stable region

參考文獻

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[8] S. Kajita, F Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi and H. Hirukawa, “Biped Walking Pattern Generation by using Preview Control of Zero-Moment Point,” Proc. IEEE Int. Conf. Robotics and Automation, pp. 1620-1626, 2003

[11] T. Ishida, Y. Kuroki, and J. Yamaguchi, “Mechanical System of a Small Biped Entertainment Robot,” Proc. IEEE Intl. Conf. on Intellgent Robot and Systems, pp. 1129-1134, 2003

[12] T. Ishide, and Y. Kuroki, “Development of Sensor System of a Small Biped Entertainment Robot,” Proc. IEEE Int. Conf. Robotics and Automation, pp. 648-653, 2004