Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/2793
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dc.contributor林麗章zh_TW
dc.contributor.author王泊翔zh_TW
dc.contributor.authorWang, Po-Hsiangen_US
dc.contributor.other機械工程學系所zh_TW
dc.date2012en_US
dc.date.accessioned2014-06-05T11:43:56Z-
dc.date.available2014-06-05T11:43:56Z-
dc.identifierU0005-0808201215404700en_US
dc.identifier.citation[1] T. McGeer, “Passive Dynamic Walking,” Int. J. of Robotics Research,Vol. 9, No. 2, pp. 62-82, 1990. [2] M. Vukobratovic and J. Stepanenko, “On the Stability of Anthropomorphic Systems,” Mathematical Biosciences, Vol. 15, pp. 1-37, 1972. [3] S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa, “The 3D Linear Inverted Pendulum Mode: A Simple Modeling for a Biped Walking Pattern Generation,” in Proc. IEEE Int. Conf. Intelligent Robots and Systems,Vol. 1, pp. 239-246, 2001. [4] S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K.Yokoi, and H. Hirukawa, “A Realtime Pattern Generator for Biped Walking,” in Proc. IEEE Int. Conf. Robotics and Automation, Vol. 1, pp. 31-37, 2002. [5] 梶田秀司 編著, 管貽生 譯,仿人機器人, 清華大學出版社, 北京,2007. [6] K. Harada, S. Kajita, K. Kaneko, and H. Hirukawa, “An Analyical Method on Real-time Gait Planning for a Humanoid Robot,” Int. J. Humanoid Robotics,Vol. 3, No. 1, pp. 1-19, 2006. [7] T. Sato, S. Sakaino, and K. Ohnishi, “Real-Time Walking Trajectory Generation Method at Constant Body Height in Single Support Phase for Three-Dimensional Biped Robot,” .in Proc. IEEE Int. Conf. on Industrial Technology, pp. 1-6, 10-13 Feb. 2009. [8] T. Sato, S. Sakaino, and K. Ohnishi, “Real-Time Walking Trajectory Generation Method With Three-Mass Models at Constant Body Height for Three- Dimensional Biped Robots,”. IEEE Trans. on Industrial Electronics, pp. 376-383, Feb. 2011. [9] 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. [10] 林稚容, “雙足機器人之動態步行軌跡規劃”, 國立中興大學機械工程學系碩士論文,民國九十九年. [11] Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, and K. Tannie, “Planning Walking Pattern for a Biped Robot,” IEEE Trans. Robotics and Automation, Vol. 17, No. 3, pp. 280-289, June 2001. [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/RSJ Int. Conf. Intelligent Robots and Systems, pp. 4101-4107, 2-6 Aug. 2005. [13] 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. [14] K. Erbatur and O. Kurt, “Natural ZMP Trajectories for Biped Robot Reference Generation,” IEEE Tran. on Industrial Electronics, Vol. 56, No. 3, pp. 835-845, March 2009. [15] R.C. Luo, H.-Y. Chang, H.-H. Chang, and Y.-P. Yang, “Walking Pattern Based on Simulated Annealing for Biped Robotics,” in Proc. 8th World Congress on Intelligent Control and Automation, pp. 1135-1140, June 2011. [16] B.-J. Lee, D. Stonier, Y.-D. Kim, J.-K. Yoo and J.-H. Kim, “Modifiable Walking Pattern of a Humanoid Robot by Using Allowable ZMP Variation,” IEEE Trans. Robotics, Vol. 24, No. 4, pp. 917-925, Aug 2008. [17] HUNO robot platform, RoboBuilder Co., Ltd. [18] J. J. Craig, Introduction to Robotics : Mechanics and Control, 3rd Ed., Addison Wesley, 2005en_US
dc.identifier.urihttp://hdl.handle.net/11455/2793-
dc.description.abstract本論文探討仿被動式機器人步行特性之主動式雙足機器人步行模式生成與實現。先以D-H法定義機器人的連桿座標系統,再利用齊次轉換矩陣求得正向運動學數學式,並利用代數法與幾何法推導遊動腳之反向運動學解析式。步態規劃先以類圓規式被動機器人的步態特性,將支撐腳視為一倒單擺作髖部運動軌跡的規劃,再以多項式內插法規劃遊動腳腳尖與地面的關係。並以多質點模型推導ZMP的計算公式,以分析步行的穩定度,其中需用到的連桿質心位置、加速度的推導,則由建立其雅可比矩陣來求得各連桿質心的絕對速度,進一步微分以得到絕對加速度。最後本文將所規劃的步態軌跡進行電腦模擬,並將各關節的期望軌跡轉換成實際機器人之命令軌跡,輸入至機器人之控制器,以印證步態規劃的可行性。zh_TW
dc.description.abstractIn this thesis, passive walking pattern-based gait planning and implementation are considered for a biped robot. First, the forward kinematics is considered using the D-H method. Then, analytic inverse kinematics equations for the swing leg are derived using both algebraic and geometric methods. Based on the principle of compass-like passive walker, the support leg is simplified as an inverted pendulum with straightened thigh and shank, and the motion trajectory of the hip is generated. The x- and z-trajectories of the swing leg’s foot are then planned using the polynomial interpolation method. And based on the multi-point-mass model, the ZMP equations are derived for testing the walking stability of the biped robot. For the calculation of ZMP, the Jacobian matrices for computing the velocities of each link’s centers of mass are derived, and the accelerations of each mass-center are obtained by direct differentiation. Finally, computer simulations and implementation of the gait pattern are demonstrated to illustrate the effectiveness of the suggested approach.en_US
dc.description.tableofcontents誌謝…………………………………………………………………………………i 摘要……………………………………………………………………………ii Abstract………………………………………………………………………… iii 目錄………………………………………………………………………………… iv 圖目錄……………………………………………………………………………… vi 表目錄…………………………………………………………………………… viii 符號說明…………………………………………………………………………… ix 第一章 緒論 ……………………………………………………………………… 1 1.1 研究動機 ………………………………………………………………… 1 1.2 文獻回顧 ………………………………………………………………… 2 1.3 論文大綱……………………………………………………………………4 第二章 雙足機器人之運動學模式………………………………………………… 5 2.1雙足機器人正向運動學……………………………………………………5 2.1.1 雙足機器人構造………………………………………………… 5 2.1.2 座標系統定義………………………………………………… 5 2.2 雙足機器人反向運動學…………………………………………………10 2.3 關節角度關係式………………………………………………………14 第三章 雙足機器人之步態規劃與步行穩定分析…………………………………19 3.1 步行模式規劃……………………………………………………………19 3.1.1 仿被動式機器人步行之倒單擺模式……………………………19 3.1.2 步行軌跡規劃……………………………………………………22 3.2 由期望軌跡求解遊動腳之關節角度……………………………………33 3.2.1 左腳為遊動腳之關節角度………………………………………33 3.2.2 右腳為遊動腳之關節角度………………………………………36 3.3 步行時左右擺動角度之規劃……………………………………………40 3.3.1 右腳為支撐腳時之左右擺動角度………………………………41 3.3.2 左腳為支撐腳時之左右擺動角度………………………………42 3.4 步行穩定分析……………………………………………………………43 3.4.1 ZMP計算式推導…………………………………………………43 3.4.2 雅可比矩陣推導…………………………………………………45 3.4.3 各連桿質心位置、速度、加速度向量之計算…………………49 第四章 電腦模擬結果與實作……………………………………………………51 4.1 雙足機器人參數選定……………………………………………………51 4.2 步行模擬生成……………………………………………………………53 4.3 步態實際行走之實現……………………………………………………………62 第五章 結論與建議………………………………………………………………65 參考文獻……………………………………………………………………………67 附錄…………………………………………………………………………………69zh_TW
dc.language.isozh_TWen_US
dc.publisher機械工程學系所zh_TW
dc.relation.urihttp://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-0808201215404700en_US
dc.subject仿被動步行zh_TW
dc.subjectPassive Walking Pattern-Baseden_US
dc.subject雙足機器人zh_TW
dc.subject步態規劃zh_TW
dc.subjectBiped Roboten_US
dc.subjectGait Planningen_US
dc.title仿被動式步行之雙足機器人步態規劃與實現zh_TW
dc.titlePassive Walking Pattern-Based Biped Robot Gait Planning and Implementationen_US
dc.typeThesis and Dissertationzh_TW
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.openairetypeThesis and Dissertation-
item.cerifentitytypePublications-
item.fulltextwith fulltext-
item.languageiso639-1zh_TW-
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