本論文設計與實現了具有腰部平臺的大型雙足機器人,於靜態時規劃行走的路徑,以及利用腰部平臺來達到震盪消除的功能,並於本論文設計動作來展現機器人的穩定性,此機器人具有12個自由度,包含了腳踝、膝蓋、髖關節以及腰部平臺的仿人型機器人。有別於學術界多是以市售的小型雙足機器人套件作為機器人研究平臺,小型雙足機器人硬體與控制電路已由廠商製作完成,使用者僅需下達各關節轉動命令即可控制且適用於研究領域。 大型機器人由於架構放大了數倍,震盪的影響也變得更顯著,承接自實驗室前一代機器人時雖具有行走之功能,但機構上尚有缺失以致穩定性不足,本論文便致力於改善機構問題以及增設腰部來達到提升穩定度的效果。機器人總高修改為150 cm,以及具有可逼緊鍊輪間隙的逼緊裝置,腰部平臺上方的載具更可依未來需求做更換,動作規劃的部份使用正向運動學以及機器人整體重心計算,來規劃一系列穩定的運動參考軌跡,以及利用適應性模糊控制理論定位各關節的控制。最後由實驗中表現出具有更好的穩定性。
The giant biped robot have been designed and implemented in this thesis which can construct the walking path in static state. The design of waist can eliminate the vibration of the giant biped robot. In chapter five, the stability of the giant biped robot can be guaranteed by varied motion. The giant biped robot is a humanoid with 12 degree of freedoms including ankle, knee joint, hip joint and waist platform which is different from the small biped robot. The small biped robot’s hardware and control circuit have been completed by supplier, so that user only have to command the control signal. Due to the structure of the giant biped robot is bigger than a small biped robot, the effect of vibration is more obvious. Although the last generation in our lab can walk, it still have some disadvantages cause in sufficient stability. This thesis devoted to improve the mechanical structural and apply a waist of giant biped robot to increase stability. Robotic total height is modified to 150 cm, and it design a tight device to reduce the gap between wheel and motor. In the future, the waist also can be changed by user’s requirement. The motion plan is according to forward kinematics and center of gravity , and adaptive fuzzy controller is designed. Finally, we propose some experiment to express the stability.