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標題: 七連桿平面雙足機器人之系統建模與步行控制
Modeling and Walking Control of a Seven-link Planar Biped Robot
作者: 楊昀諭
Yang, Yun-Yu
關鍵字: 七連桿平面雙足機器人;seven-link biped robot;系統動力學模式;步態軌跡規劃;直接式適應控制;system dynamics model;walking pattern design;direct adaptive control
出版社: 機械工程學系所
引用: [1] A. Olenšek and Z. Matjačić, "Two-level control strategy of an eight link biped walking model," Simulation Modelling Practice and Theory, vol. 19, pp. 133-147, 2011. [2] A. Olenšek and Z. Matjačić, "Human-like control strategy of a bipedal walking model," Robotica, vol. 26, pp. 295-306, 2008. [3] K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, "The development of Honda humanoid robot," in Proc. IEEE Int. Conf. on Robotics and Automation, vol. 2, pp. 1321-1326,1998. [4] K. Hirai, "Current and future perspective of Honda humanoid robot," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, vol. 2, pp. 500-508,1997. [5] Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, and K. Tanie, "Planning walking patterns for a biped robot," IEEE Transactions on Robotics and Automation, vol. 17, pp. 280-289, 2001. [6] C. L. Shih and W. A. Gruver, "Control of a biped robot in the double-support phase," IEEE Transactions on Systems, Man and Cybernetics, vol. 22, no.4, pp. 729-735, 1992. [7] H. Hemami and R. Farnsworth, "Postural and gait stability of a planar five link biped by simulation," IEEE Transactions on Automatic Control, vol. 22, no.3, pp. 452-458, 1977. [8] C. Golliday Jr and H. Hemami, "An approach to analyzing biped locomotion dynamics and designing robot locomotion controls," IEEE Transactions on Automatic Control, vol. 22, no.6, pp. 963-972, 1977. [9] H. Wongsuwarn and D. Laowattana, "Neuro-fuzzy algorithm for a biped robotic system," Int. J. of Applied Mathematics and Computer Sciences, vol.3, no.4, pp.195-201, 2006. [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] 詹謦緻,“含膝蓋被動式機器人之混合系統建模與水平步行控制,”國立中興大學機械工程學系碩士論文, 2011. [12] J. W. Grizzle, G. Abba, and F. Plestan, "Asymptotically stable walking for biped robots: Analysis via systems with impulse effects," IEEE Transactions on Automatic Control, vol. 46, no.1, pp. 51-64, 2001. [13] M. W. Spong, J. K. Holm, and D. Lee, "Passivity-based control of bipedal locomotion," IEEE Robotics and Automation Magazine, vol. 14, no.2, pp. 30-40, 2007. [14] J. J. Craig, Introduction to Robotics:Mechanics and Control, 3rd Ed., Addison Wesley, 2005. [15] J. T. Spooner, M. Maggiore, R. Ordo ́n ̃ez, and K. M. Passino, Stable Adaptive Control and Estimation for Nonlinear Systems:Neural and Fuzzy Approximator Techniques, John Wiley, New York, 2002. [16] 羅華強 編著, 類神經網路-MATLAB的應用, 高立圖書有限公司, 台灣, 2011. [17] 梶田秀司 編著, 管貽生 譯, 仿人機器人, 清華大學出版社, 北京, 2009.  
本論文針對七連桿平面雙足機器人,利用Lagrange方程式推導出雙腳支撐階段(double support phase)與單腳支撐階段(single support phase)之動力學方程式,再利用角動量守恆原理推導換腳碰撞(impact)前後的角速度轉換方程式。步態軌跡規劃方面,以包含一準備階段、二完整步伐,以及一結束階段為例,將單腳支撐階段的支撐腳視為倒單擺直接規劃其關節角度軌跡,遊動腳則以多項式內插法進行規劃,再以幾何法推導逆向運動學方程式以求得各連桿之期望軌跡。在控制器設計方面,則分別針對雙腳支撐階段與單腳支撐階段設計其公稱控制器,以及考慮實際系統不確定性之適應控制器,穩定適應控制器中包含輻射基底類神經網路函數近似器,以補償系統之不確定性。最後並以電腦模擬,驗證控制器之有效性。

In this thesis, modeling and control of a seven-link planar biped robot are considered. The dynamics models including the double support phase and single support phase motion equations are first derived using the Lagrange’s equations. And then based on conservation of angular momentum, the impact’s angular velocity transformation equations are derived. A gait pattern consisted of a preparation phase, two complete paces, and one ending phase, is synthesized by considering the support leg as a single inverted pendulum and the swing leg’s trajectories are planned via polynomial interpolation. Inverse kinematics equations are derived using geometric methods for calculating the joint trajectories of the swing leg. Furthermore, based on Lyapunov stability, stable adaptive controls for the double support and single support phase are respectively derived. In the stable adaptive controllers, radial basis neural network (RBNN) function approximators are included to compensate for the model uncertainty. Finally, computer simulations are presented to illustrate the effectiveness of the suggested control strategy.
其他識別: U0005-2208201221410700
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