請用此 Handle URI 來引用此文件: http://hdl.handle.net/11455/1879
標題: 12自由度雙足步行機器人之解析動力學模式與控制設計
Modeling and Control of a 12-DOF Biped Walking Robot
作者: 楊欣平
Yang, Shin-Ping
關鍵字: Biped Walking Robot
雙足機器人
Backstepping
Dynamics
Modeling
步行
動力學
建模
出版社: 機械工程學系所
引用: [1] Y. Fujimoto and A. Kawamura, “Simulation of an Autonomous Biped Walking Robot Including Environmental Force Interaction,” IEEETrans. on Robotics & Automation Magazine, pp. 33-42, June 1998. [2] O. Ayhan and K. Erbatur, “Biped Walking Robot Hybrid Control with Gravity Compensation,” IEEE 31st Annual Conf. on Industrial Electronics, pp. 1797-1802, 2005. [3]Y. Fujimoto and A. Kawamura, “Proposal of Biped Walking Control Based on Robust Hybrid Position/Force Control,” Proc. IEEE Int. Conf. on Robotics and Automation, vol. 3, pp. 2724-2730, Apr. 1996. [4] Y. Fujimoto and A. Kawamura, “Three Dimensional Digital Simulation and Autonomous Walking Control for Eight-Axis Biped Robot,” Proc. IEEE Int. Conf. on Robotics and Automation, vol. 3, pp. 2877-2884, May 1995. [5] M.G. Forrest-Barlach and S.M. Babcock, “Inverse Dynamics Position Control of a Compliant Manipulator,” IEEE Journal on Robotics and Automation, vol. 3, no. 1, pp. 75-83, Feb. 1987. [6] Z. Peng, Q. Huang, L. Zhang, A. R. Jafri, W. Zhang, and K. Li, “Humanoid On-line Pattern Generation Based on Parameters of Off-line Typical Walk Patterns,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3758-3763, Apr. 2005. [7] C. Zhu and A. Kawamura, “Bipedal Walking Pattern Design Based on Synchronization of the Motions in Sagittal and Lateral Planes,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.4101-4107, Aug. 2005. [8] Q. Huang , K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, and K. Tanie, “Planning Walking Patterns for a Biped Robot,” IEEE Trans. on Robotics and Automation, vol. 17, no. 3, pp. 280-289, June 2001. [9] M. H. Choi, “Redundancy Resolution by Minimization of Joint Disturbance Torque for Independent Joint Controlled Manipulators,” Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 392-397, Sep. 1999. [10] K. Harada, S. Kajita, F. Kanehiro, K. Fujiwara, K. Kaneko, K. Yokoi, and H. Hirukawa, “Real-Time Planning of Humanoid Robot’s Gait for Force Controlled Manipulation,” IEEE/ASME Trans. on Mechatronics, vol. 1, no. 1, pp. 53-62, Feb. 2007. [11] K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, “The Development of Honda Humanoid Robot,” Proc. IEEE Int. Conf. on Robotics and Automation, vol. 2, pp. 1321-1326, May 1998. [12] S. Kagami and K. Nishiwaki, “Design and Implementation of Software Research Platform for Humanoid Robots: H6,” Proc. IEEEInt. Conf. on Robotics and Automation, vol. 3, pp. 2431-2436, May 2001. [13] K. Erbatur and A. Okazaki, “A Study on the Zero Moment Point Measurement for Biped Walking Robots,” Int. Workshop on Advanced Motion Control, pp. 431-436, July 2002. [14] M.W. Spong, S. Hutchinson, and M. Vidyasagar, Robot Dynamics and Control, John Wiley and Sons, 2006. [15] J. J. Craig, Introduction to Robotics: Mechanics and Control, 3rd Ed., Addison-Wesley, 2005. [16] M. Xie, Fundamentals of Robotics: Linking Perception to Action, World Scientific, 2003. [17] S. C. Chapra, Applied Numerical Methods with MATLAB for Engineers and Scientists, McGraw-Hill, 2005. [18] 陳碩彥, “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,” 國立中興大學機械工程學系碩士論文, 2006. [19] 高琦凱, “雙足機器人的設計製作與步態規劃及嵌入式單軸伺服控制器實作,” 國立中興大學機械工程學系碩士論文, 2007.
摘要: 本論文針對雙足機器人進行完整動力學模式推導和步伐軌跡追蹤控制的研究。先利用牛頓-尤拉法推導出含軀幹和雙足之完整解析動力學方程式,由完整解析動力學模式可以計算動態行走過程中,機器人與地面接觸所產生的地面反作用力/力矩。步行控制策略的設計則先選擇適當的Lyapunov候選函數,再使用反向步進(backstepping)法推導一穩定非線性控制器,其中包含了一非線性阻尼項以補償模式的不確定性。最後並根據由ZMP原理規劃出的期望關節變數軌跡進行追蹤控制電腦模擬,驗證所提控制策略的有效性。
This thesis considers the modeling and control design for a walking biped robot system. Using the Newton-Euler approach, the whole complex analytic dynamics equations considering the base link and two leg's 12 links are derived. Based on the complete dynamics model, the reactive force/moment by the ground could be computed in the simulation. By choosing appropriate Lyapunov function candidate, a stable nonlinear control law with nonlinear damping compensation term is derived using the backstepping method. Finally, computer simulations are used to illustrate the effectiveness of the suggested control strategy using the ZMP-based desired joint-variables trajectory.
URI: http://hdl.handle.net/11455/1879
其他識別: U0005-2108200712130000
文章連結: http://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-2108200712130000
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