Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/1570
標題: 雙足機器人之爬梯軌跡設計與控制
Trajectory Design and Control of a Biped Robot Walking Upstairs
作者: 吳政庭
關鍵字: biped robot
雙足機器人
upstairs
off-line
爬梯
離線式
出版社: 機械工程學系所
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摘要: 摘要 本研究主要的目的在於設計雙足機器人仿人類的爬梯軌跡,並且採用低成本的伺服控制器控制機器人實現爬梯軌跡。 研究採用的桌上型機器人為日本KONDO公司生產的KHR-1雙足機器人,額外加裝轉向擴充模組,使機身總共有19自由度(DOF),分別為雙足12個,手部6個以及頭部1個。 本研究機器人的軌跡設計上使了用離線式(off-line)軌跡設計法。參考比較人類的爬梯運動軌跡和學者提出的穩定ZMP (zero moment point)軌跡,設計出穩定可靠的爬梯軌跡。經由正反運動學求出轉軸的轉動角,並由模擬呈現出機器人的軌跡。透過S3C2440 ARM9和AT89C4051單晶片控制機器人的馬達,實現穩定的仿人類爬梯軌跡。
Abstract The purpose of this research is to design an imitation trajectory of a human walking upstairs trajectory for a biped robot to walk upstairs using a low cost servo controller to control it and achieve walking upstairs trajectory. In this research, a KHR-1 biped robot made by KONDO Inc. Japan, is used. With an extra turning module, the robot contains nineteen degrees of freedom comprising twelve servo motors on its legs, six servo motors on its hands and one its head. Off-line trajectory design method is used in this research, a stable and reliable trajectory is designed according to human upstairs trajectory, and had been compared with the stable ZMP trajectory developed by other researchers. Forward and inverse kinematics are used to calculate the rotation angle of each servo motor, and simulation is used to show the trajectory. To achieve a stable imitation trajectory of a human walking upstairs, S3C2440 ARM9 and AT89C4051 are used as controller.
URI: http://hdl.handle.net/11455/1570
其他識別: U0005-1808201113443600
文章連結: http://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-1808201113443600
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