請用此 Handle URI 來引用此文件: http://hdl.handle.net/11455/1885
標題: 平面雙足機器人之翻觔斗建模與最佳控制
Modeling and Optimal Control for the Somersault of a Planar Biped Robot
作者: 孫誌繁
Sun, Zhi-Fan
關鍵字: Planar Biped Robot
平面雙足機器人
Optimal Control
Modeling for the Somersault
翻觔斗建模
最佳控制
觸地速度轉換
出版社: 機械工程學系所
引用: [1] M. H. Raibert, Legged Robots that Balance, MIT Press, Cambridge, MA, 1986. [2] D. E. Koditschek, and M. Buehler, “Analysis of a Simplified Hopping Robot,” Int. J. Robot. Res., Vol. 10, No. 6, pp. 587-605, Dec. 1991. [3] A. F. Vakakis, J. W. Burdick, and T. K. Caughey, “An Interesting Strange Attractor in the Dynamics of a Hopping Robot,” Int. J. Robot. Res., Vol. 10, No. 6, pp. 606-619, Dec. 1991. [4] R. P. Ringrose, “Self-Stabilizing Running,” Mass. Inst. Technol, Tech. Rep., Cambridge, MA, 1997. [5] J. G. Cham, R. J. Full, M. R. Cutkosky, “Fast and Robust: Hexapedal Robots via Shap Deposition Manufacturing,” Int. J. Robot. Res., Vol. 21, No. 10-11, pp. 869-882, 2002. [6] R. R. Playter, “Passive Dynamics in the Control of Gymnastics Maneuvers,” Ph. D. Dissertation, Mass. Inst. Technol., Cambridge, MA, 1995. [7] T. McGeer, “Passive Dynamic Walking,” Int. J. Robot. Res., Vol. 9, pp. 62-82, 1990. [8] T. McGeer, “Passive Walking With Knees,” Proceedings IEEE Conference on Robotics and Automation, Vol. 3, pp. 1640-1645, May 13-18, 1990. [9] M. J. Coleman, “A Stability Study of a Three-Dimensional Passive- Dynamic Model of Human Gait,” Ph. D. Dissertation, Cornell Univ., Ithaca, NY, 1998. [10] 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. [11] K. D. Mombaur, H. G. Bock, J. P. Schlöder, and R. W. Longman, “Self- Stabilizing Somersaults,” IEEE Trans. on Robotics, Vol. 21, No. 6, Dec. 2005. [12] G. A. Bekey, Autonomous Robots: From Biological Inspiration to Implementation and Control, MIT Press, Cambridge, Massachusetts, 2005. [13] G. A. Pratt and M. M. Williamso, “Series Elastic Actuators,” In Proc. Int. Conf. Intell. Robot. Syst., Pittsburgh, PA, pp. 399-406, 1995. [14] D. W. Robinson, J. E. Pratt, D. J. Paluska, and G. A. Pratt, “Series Elastic Actuator Development for a Biomimetic Walking Robot,” IEEE International Conference on Advanced Intelligent Mechatronics, pp. 561-568, Sep 19-23, 1990. [15] F. L. Lews and V. L. Syrmos, Optimal Control, 2nd Ed., Wiley- Interscience, 1995. [16] D.X. Gao, G. Y. Tang, and B. L. Zhang, “Approximate Optimal Tracking Control for a Class of Nonlinear Systems with Disturbances,” Proceedings 6th World Congress on Intelligent Control and Automation, pp. 521-525, June 21-23, 2006.
摘要: 本論文考慮雙足翻觔斗機器人模型,利用Lagrange方程式和角動量守恆原理,推導出雙足機器人翻觔斗飛行時與單腳觸地時的動力學方程式,再利用變分法分別獲得該二時相之最佳追蹤控制律,讓雙足機器人可以追蹤一規劃的姿態軌跡來完成翻觔斗的運動,並選擇適當的初始條件和參數,以電腦模擬雙足機器人翻觔斗的動態特性。上述方法,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,始可達成雙足機器人翻觔斗的功能。經由電腦模擬,可以驗證所提控制策略的有效性。
Considering the somersault robot model suggested by Mombaur et al.[11], this thesis derives the robot's dynamic system models both for its flight phase and contact phase via Lagrange's equations, and the velocity transition equation during the single-foot contact impact is developed using the principle of angular momentum conservation. Nonlinear optimal tracking control laws for the two phases are respectively derived by calculus of variations. Finally, computer simulations are conducted to illustrate the control performance. By choosing appropriate initial conditions and control parameters via trial and error, a somersault can be fulfilled.
URI: http://hdl.handle.net/11455/1885
其他識別: U0005-2208200714552800
文章連結: http://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-2208200714552800
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