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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.

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.
其他識別: U0005-2208200714552800
Appears in Collections:機械工程學系所

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