近年來電腦科技的快速發展,電腦輔助工程(Computer Aided Engineering,CAE)軟體的強大功能,成為工程研究者進行工程分析的重要工具。本論文採用Matlab/SimMechanics 來建構雙足機器人模擬模型,藉由數值分析模擬與視覺化,進行機器人之運動合成、分析、與步態運動之數值模擬,探究足型機器人步態運動的動態分析及反向運動學分析與控制,以及腳踝機構補償與平衡,將有效地提供機器人實體設計、建構的重要資訊。 在發展小型雙足機器人,本論文首先進行雙足機器人機構設計,控制策略採分層式控制架構,選用MyRIO為主控制器,電腦為監看端,並將慣性測量單元(Inertial measurement unit,IMU)裝置在機體重心部位,經由感測器來推算ZMP點,判斷其軀體平衡,藉由陀螺儀監控平衡控制系統,進而針對臀部關節進行平衡補償與修正,使雙足機器人能夠平穩的行走。 本研究為探討雙足機器人的行走軌跡規劃與模擬腳踝補償設計之平衡,由實體機體得知平衡控制系統的重要性。
In recent years, based on the rapid advance of computer technology, Computer aided engineering (CAE) software has become a powerful tool for engineering researchers to carry out engineering analysis. Therefore, this paper proposes a simulation model of biped robot on Matlab / SimMechanics. Through the numerical analysis simulation and visualization, the robot motion synthesis, analysis, and gait movement numerical simulation are presented. The simulate model is employed to investigate dynamic analysis, inverse kinematics analysis and ankle mechanism compensation. The simulate result provides an efficient and important information for biped robot design. In implementation of small bipedal robots, this paper first carries out the mechanism design of biped robot. Control strategy is based on Hierarchical control architecture. The main controller adopts MyRIO, the computer is designed a monitor. The Inertial Measurement Unit (IMU) is installed in the gravity center of the body. The sensor is used to detect the ZMP point and the gyroscope is used to monitor body balance. Then, Hip joint balance compensation is adjusted, so that bipedal robot can walk stably. In this study, the balance between the walking trajectories planning of biped robot is described, the design and simulation of ankle compensation is presented.