Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/7732
標題: 小型人形機器人之路徑追蹤與進階行為控制
Path Tracking and Advanced Behaviors Control of a Small-Scale Humanoid Robot
作者: 郭富甥
Kuo, Fu-Sheng
關鍵字: small-scale humanoid robot
小型人形機器人
出版社: 電機工程學系所
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摘要: 本論文主旨在建構與發展一全自主之智慧型嵌入式小型人形機器人。使用基因法則與重心穩定法則規劃一些基本動作,如前進、後退、轉彎之運動步態,使其達到近似最小消耗能量的目的,之後再將這些基本的運動方式推演到比較高階複雜的動作,如路徑追蹤、跌倒站立、上下樓梯與斜坡行走。路徑追蹤控制是整合全域定位、運動路徑規劃與基本動作而成的複雜行為,其主要的全域定位方法是利用攝影機與三個已知位置之彩色地標,以三角測量方法求取位置,再配合電子指南針來改善姿態估測角度的精確度。跌倒站立與上下樓梯等行為是應用力感測器與基本動作所完成,而斜坡行走則使用模糊控制法與傾斜儀的量測值所完成。許多電腦模擬與實驗數據用以說明所提出的方法之效用。本文所發展得技術與方法可用以實現一實用自主式的小型人形機器人。
This thesis is devoted to constructing and developing an autonomous and intelligent embedded small-scale humanoid robot. Genetic algorithm and stability margin are used to find the near optimal configuration of the humanoid robot walking patterns, including forward walking, backward walking and turning. Based on these walking patterns, the advanced behaviors, standing up, ascending and descending and ramp walking can be synthesized. Vision-based self-localization together motion planning and basic walking patterns are used to accomplish path tracking of a humanoid robot. Based on the triangulation method, posture information of the humanoid robot at a flat environment is determined using a CMOS camera along with three given colorful landmarks. An electronic compass is employed to improve the accuracy of the global localization of the robot. The two behaviors of standing-up and ascending and descending stairs are designed by incorporating the force sensors and basic walking patterns, while the ramp walking is constructed by the tilt sensor and the fuzzy control. Several computer simulations and experiment results are conducted to verify the efficacy of the proposed method. The proposed methods and techniques can be expected useful and effective in developing a pragmatic, autonomous and intelligent embedded small-scale humanoid robot.
URI: http://hdl.handle.net/11455/7732
其他識別: U0005-2607200722531400
文章連結: http://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-2607200722531400
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