結合類比與數位電路之四足機器人設計與控制

Design and Control of Quadruped Robot Using Integrated Analog and Digital Circuits

曾國師(Kuo- Shih Tseng)

指導教授 ： 方 煒

國立臺灣大學/生物資源暨農學院/生物產業機電工程學研究所/碩士(2004年)

https://doi.org/10.6342/NTU.2004.02272

摘要

本研究旨在針對四足機器人行走時，平台穩定之控制架構與控制問題進行探討。其能透過平台穩定性的改善使得後續感測或載物皆能順利的進行。首先針對四足機器人的步態驅動與平衡控制做探討，步態的驅動使用類比電路控制，平衡的控制則以數位電路控制。
初步完成結合傾斜感測器與8051單晶片控制的NTU-SIMONE四足機器人，單腳移動的垂直距離抬高17cm時，仍能維持平台的穩定。

關鍵字

四足機器人 ； 類比電路 ； 強健控制 ； 系統識別 ； 步態

並列摘要

The aim of this study was to develop a quadruped robot focusing on the steady control structure of the trunk. The approach is to combine merits of analog and digital logic circuits. The analog circuits were used for the gait control and digital circuits were used for the balancing control of the trunk.
A quadruped robot was developed, named NTU-SIMONE. The balance of the trunk can be maintained when one leg raised up to 17cm in vertical direction.

並列關鍵字

quadruped robot ； Analog circuits ； robust control ； gait ； system identification

參考文獻

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