請用此 Handle URI 來引用此文件: http://hdl.handle.net/11455/2195
標題: 雙足機器人之動態步行軌跡規劃
Dynamic Walking Trajectory Planning for a Biped Robot
作者: 林稚容
Lin, Chih-Rong
關鍵字: biped robot
雙足機器人
walking pattern generation
VHIPM
3D-LIPM
dynamic walking stability
步態規劃
虛擬高度倒擺模式
三維倒擺模式
動態步行穩定性
出版社: 機械工程學系所
引用: [1] K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, “The Development of Honda Humanoid Robot,” in Proc. IEEE Int. Conf. Robotics and Automation, pp. 1321-1326, May 1998. [2] Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, and K. Tannie, “Planning Walking Pattern for a Biped Robot,”IEEE Trans. Robot. Autom., vol. 17, no. 3, pp. 280-289, June 2001. [3] T. Ha and C.-H. Choi, “An Effective Trajectory Generation Method for Bipedal Walking,” Robotics and Autonomous Systems, vol. 55, no. 10, pp. 795-810, Oct. 2007. [4]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,民國九十六年。 [5] T. Sugihara, Y. Nakamura, and H. Inoue,“Real-time Humanoid Motion Generation through ZMP Manipulation Based on Inverted Pendulum Control,” in Proc. IEEE Int. Conference on Robotics and Automation, pp. 1404-1409, May 2002. [6] M. Shibuya, T. Suzuki, and K. Ohnish, “Trajectory Planning of Biped Robot Using Linear Pendulum Mode for Double Support Phase,” in Proc. IEEE Int. Conference on Industrial Electronics, pp. 4094 – 4099, Nov. 2006. [7] Ching-Long Shih, “Ascending and Descending Stairs for a Biped Robot,” IEEE Trans. on Systems,Man,and Cybernetics, PartA: Systems and Humans, vol. 29, no. 3, pp. 255-268, May 1999. [8] E.-S. Kim, J.-H. Kim, and J.-W. Kim, “Generation of Optimal Trajectories for Ascending and Descending a Stair of a Humanoid Based on uDEAS,” in Proc. IEEE Int. Conf. Fuzzy Systems, pp. 660- 665, Aug. 2009. [9] C. Zhu and A. Kawamura, “Bipedal Walking Pattern Design Considering the Effect of Double Support Phase,” in Proc. IEEE Int. Conf. Robotics and Biomimetics, pp. 883-888, Dec. 2007. [10] M. Vukobratovic and B. Borovac, “Zero-Moment Point - Thirty-Five Years of its Life,” Int. J. of Humanoid Robotics, vol. 1, no. 1, pp. 157-173, 2004. [11] K. Erbatur, A. Okazaki, K. Obiya, T. Takahashi, and A. Kawamura, “A Study on the Zero Moment Point Measurement for Biped Walking Robots,” in 7th Int. Workshop on Advanced Motion Control, pp. 431-436, July 2002. [12] C. Zhu, Y. Tomizawa, and A. Kawamura, “Bipedal Walking Pattern Design Based on Synchronization of the Motions in Sagittal and Lateral Planes,” in Proc. IEEE Int. Conf. Robotics and Automation, pp. 4101-4107, Aug. 2005. [13] C. Zhu and A. Kawamura, “Bipedal Walking Pattern Design by Synchronizing the Motions in Sagittal and Lateral Planes,” Humanoid Robots: Human-like Machines, pp. 642-663, June 2007. [14] M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control, Wiley, New York, 2006. [15]楊欣平, “十二自由度雙足步行機器人之解析動力學模式與控制設計,” 國立中興大學機械工程學系碩士論文, 民國九十六年。 [16]陳冠任,“十二軸雙足機器人低階伺服控制系統設計與製作—使用控制器區域網路,” 國立中興大學機械工程學系碩士論文, 民國九十七年。
摘要: 本論文針對一雙足機器人,探討沿水平面直線步行與單一階梯跨升的步態規劃問題,以指定機器人總質心與足部軌跡的方式進行雙足步態模式生成的研究。先以D-H法定義機器人的連桿座標系統,再推導計算質心速度之雅各比矩陣,並擬定步態所需滿足之關節空間拘束條件。 沿水平地面直線步行的步態軌跡規劃部分,以虛擬高度倒擺模式規劃穩定單腳支撐階段的質心軌跡,再以三維線性倒擺模式規劃起始加速階段與最終減速階段的質心軌跡,其他階段質心軌跡和足部軌跡的規劃,則以多項式內插法完成。而跨升單一階梯的行走軌跡,則皆以多項式內插法加以規劃。最後本文並將所規劃的步態軌跡進行電腦模擬,並計算對應之ZMP軌跡,以瞭解規劃步態的可行性,以及對應關節軌跡的變化特性。
In this thesis, two types of walking pattern are considered for a biped robot, including the case of straight walking in level ground and the case of ascending a single stair. Both walking patterns are planned based on assigned trajectories for the robot's center of mass and the swinging foot. The D-H convention is adopted for defining the link frames, and the Jacobian matrices for computing the velocity of centers of mass are derived. And suitable joint-space constraints corresponding to the desired walking gaits are chosen. Based on Jacobian matrix, the inverse kinematic solutions for joint velocity and variables are solved. In the walking pattern planning, the VHIPM and 3D-LIPM are used to design the COM trajectory for the initial acceleration phase, the final deceleration phase, and the single support phase in the steady stage. The polynomial interpolation method is used for the others. As for the case of ascending a single stair, the polynomial interpolation method is used for all the phases. Finally, computer simulations, including ZMP calculation for understanding the dynamic walking stability, are used to illustrate the feasibility of the planned walking patterns.
URI: http://hdl.handle.net/11455/2195
其他識別: U0005-0102201017404500
文章連結: http://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-0102201017404500
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