應用可拓理論於嵌入式平台之機器人平衡控制

AN EXTENICS-BASED EMBEDDED SYSTEM FOR ROBOT BALANCE CONTROL

楊冠彥(Kuan-Yen Yang)

指導教授 ： 李良德

大同大學/電機資訊學院/資訊工程學系所/碩士(2010年)

摘要

本篇論文主要研究的是人型機器人之步行於不同坡度時的穩定平衡控制，由於本研究的焦點是針對機器人的下半身之平衡控制，因此它具有六個馬達六個自由度，分別對應到髖部、膝蓋及腳踝。當步行於不同的坡度時，會判斷機器人全身重心是否落於腳掌所規劃的穩定區間所投射的範圍內，在不同的坡度適時的改變身體重心，使得重心不至於落在不穩定區間的範圍。由於人型步行機器人在行走時，重心位置會隨著坡度改變而偏移，勢必影響行走時的穩定性，本論文建構出一種偵測機器人重心平衡系統，結合ZMP計算與可拓工程方法來使得機器人能夠適應在不同坡度上維持穩定平衡。
本論文係將壓力感測器裝置在機器人腳掌上，並分別收集和分析來自壓力感測器之壓力感測值，並將其轉換成重心的數值。此外，本研究建立一可拓工程方法相關的關聯函數，並透過微控制器送出控制訊號，以調整機器人姿勢，使ZMP 點落於腳掌所規劃的穩定範圍內的區域，從而達到機器人可以穩定平衡行走的目的。

關鍵字

機器人 ； 可拓工程方法 ； 嵌入式系統 ； 零力矩點

並列摘要

This thesis presents the stability of the balance control of the walking humanoid robot. Since focus of this study focuses on the balance of control of the walking robot by controlling the robot's lower body, six degrees of freedom with six motors, respectively are considered. When the robot is walking on different slopes, the proposed balance control mechanism will determine whether the center of gravity of the robot body is projected on the stable region of the predefined foot interval. In different slopes we can adjust the body center of gravity, so that the center of gravity can fall on the scope of the stable range. As humanoid robot walking, the center of gravity will shift as the slope changed, that will affect the stability of walking. In this thesis, we propose a detection system of the robot center of gravity for robot balance control, which combines ZMP approach and extenics relational function to maintain the stability of the walking robot on different slopes.
We use the pressure sensors installed on the robot’s foot, to collect and analyze the values detected by the pressure sensors for converting into a center of gravity value. Furthermore, an extenics relational function has been constructed for keeping ZMP in the stable region to achieve the balance control of the walking robot.

並列關鍵字

Robot ； Extenics ； Embedded System ； ZMP

參考文獻

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