請用此 Handle URI 來引用此文件: http://hdl.handle.net/11455/1719
標題: 具被動步行特性雙足機器人之混合系統建模與主動式步態控制
Hybrid-System Modeling and Active Gait Generation Control for a Passive Dynamic Walking Biped Robot
作者: 陳碩彥
Chen, Shuo-Yen
關鍵字: Passive
被動式
Biped Robots
Hybrid-System Modeling
Virtual Gravity
Neural-Adapt Control
雙足步行機械
混合動力系統模式
虛擬重力
類神經適應控制器
出版社: 機械工程學系所
引用: [1] T. McGeer, “Passive dynamic walking,” Int. J. of Rob. Res., 9(2):62-82, 1990. [2] T. McGeer, (1990b), “Passive walking with knees,” Proceedings of the IEEE Conference on Robotics and Automation, 2:1640-1645. [3] M. Wisse, “Three additions to passive dynamic walking: actuation, an upper body, and 3D stability,” IEEE Humanoids 2004, pp. 113-132. [4] S. H. Collins, M. Wisse, and A. Ruina, “A three-dimensional passive-dynamic walking robot with two legs and knees,” Int. J. of Rob. Res., Vol. 20, No. 7, pp. 607-615, 2001. [5] M. Wisse, A. L. Schwab, R. Q. van der Linde, and F. C. T. van der Helm, “How to keep falling forward: elementary swing leg action for passive dynamic walkers,” IEEE Trans. on Robotics, Vol. 21, No. 3, 2005, pp. 393-401. [6] F. Asano, M. Zhi-Wei Luo, and M. Yamakita, “Biped Gait Generation and Control Based on a Unified Property of Passive Dynamic Walking” IEEE Trans. on Robotics, Vol. 21, No.4, August 2005, pp. 754-762. [7] F. Asano, M. Yamakita, N. Kamamichi, and Z.-W. Luo, “A novel gait generation for biped walking robots based on mechanical energy constraint,” IEEE Trans. Robot. Autom., vol. 20, no. 3, pp. 565–573, Jun.2004. [8] F. Asano, M. Hashimoto, N. Kamamichi, and M. Yamakita, “Extended virtual passive dynamic walking and virtual passivity-mimicking control laws,” in Proc. IEEE Int. Conf. Robotics and Automation, vol. 3, 2001, pp. 3084–3089. [9] F. Asano and M. Yamakita, “Virtual gravity and coupling control for robotic gait synthesis,” IEEE Trans. Syst., Man, Cybern. A, vol. 31, no.6, pp. 737–745, Nov. 2001. [10] M. W. Spong and F. Bullo, “Controlled symmetries and passive walking,”IEEE Trans. on Automatic Control, Vol. 50, No. 7, 2005, pp. 1025–1031. [11] M. W. Spong, “Passivity-based control of the compass gait biped,” in Proc. World Congr., IFAC, 1999, pp. 19–23. [12] T. Narukawa, M. Takahashi, and K. Yoshida, “Biped locomotion on level ground by torso and swing-leg control based on passive-dynamic walking,” IEEE 2004, pp.1-6. [13] A. Goswami, B. Espiau, and A. Keramane, “Limit cycles and their stability in a passive bipedal gait,” in Proc. IEEE Int. Conf. Robotics and Automation, 1996, pp. 246–251. [14] A. Goswami, B. Thuilot, and B. Espiau, “Compass-like biped robot Part I: Stability and bifurcation of passive gaits,” INRIA, Res. Rep. 2613,1996. [15] J. Guckenheimer and P. Holmes, Nonlinear Oscillations, Dynamical Systems, and Bifurcations, Springer-Verlag, New York, 1983. [16] B. Thuilot, A. Goswami, and B. Espiau, “Bifurcation and chaos in a simple passive bipedal gait,” IEEE Int. Conf. on Robotics and Automation, 1997. [17]石之山,“二維模型步行之探討”,中原大學應用物理研究所碩士論文,2003。 [18] K. Gajewski and B. Radziszewski, “On the stability of impact systems,” Bulletin of the Polish Academy of Sciences, 35(3-4):183-189, 1987. [19] Y. Hurmuzlu and G.D. Moskowitz, “The role of impact in the stability of bipedal locomotion,” Dynamics and Stability of Systems, 1(3), 1986. [20] E. R. Westervelt, J. W. Grizzle, and D. E. Koditschek, “Hybrid zero dynamics of planar biped walkers,” IEEE Trans. on Automatic Control, Vol. 48, No. 1, pp.42-56, 2003. [21] A. Isidori, Nonlinear Control Systems: An Introduction, 3rd ed., Springer-Verlag, Berlin, Germany, 1995. [22] G. A. Bekey, Autonomous Robots: From Biological Inspiration to Implementation and Control, MIT Press, 2005.
摘要: 本論文針對McGeer[1]所提之依靠重力驅動走下斜坡的被動式雙足步行機械,利用Lagrange方程式和角動量守恆原理,推導其混合動力系統模式,並選擇適當的初始條件和參數,以電腦模擬雙足自然走下斜坡的動態特性。再探討仿被動式的虛擬重力與具強健性之能量追蹤等主動式控制法,獲得致動器所需之等效驅動力矩,讓該簡易機器人於平面上亦能以自然省能的方式行走。 上述仿被動式方法,需依靠試誤法及多次模擬經驗,來選擇適當的初始值與系統參數,始可達成具被動式動態行走的功能。為了使雙足機器人擁有較複雜的步行能力,因此再根據混合動力系統模式,選擇適當的Lyapunov候選函數,提出一穩定類神經適應控制器,其中包含一輻射基底類神經網路以補償模式不確定性,其參數調適律含一 修正項,經由電腦模擬,可以驗證所提控制策略的有效性。
URI: http://hdl.handle.net/11455/1719
其他識別: U0005-2607200616200400
文章連結: http://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-2607200616200400
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