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Path Tracking and Advanced Behaviors Control of a Small-Scale Humanoid Robot
|關鍵字:||small-scale humanoid robot;小型人形機器人||出版社:||電機工程學系所||引用:|| M.Y. Zarrugh and C.W. Radcliffe, “Computer generation of human gait kinematics”, J. Biomech., pp. 99-111,12 1979.  T. McGeer, “Passive walking with knees”, Proc. IEEE Int. Conf. Robotics and Automation, pp. 1640-1645, 1990.  A. Takanishi, M. Ishida, Y. Yamazaki, I. Kato, “The realization of dynamic walking robot WL-10RD”, Proceedings of international Conference on Advanced Robotics, pp. 459-466, 1985.  C.L. Shih, Y.Z. Li, S. Churng, T.T. Lee, W.A. Cruver, “Trajectory synthesis and physical admissibility for a biped robot during the single support phase”, Proceedings of IEEE international Conference on Robotics and Automation, pp. 1646-1652, 1990.  K. Hirai, M. Hirose, Y. Haikawa, T. Takenaka, “The development of honda humanoid robot”, Proceedings of IEEE international Conference on Robotics and Automation, pp. 1321-1326, 1998.  A. Dasgupta, Y. Nakamura, “Making feasible walking motion of humanoid robots from human motion capture data”, Proceedings of IEEE international Conference on Robotics and Automation, pp. 1044-1049, 1999.  J.H. Holland, “Adaptation in Natural and Artificial Systems”, Unoversity of Mochigan Press,Ann Arbor,1975.  P. H. Channon, S. H. Hopkins, and D. T. Phan, “Derivation of optimal walking motions for a biped walking robot,” Robotica, vol. 10, no. 2, pp. 165-172, 1992.  M. Rostami and G. Bessonnet, “Impactless sagittal gait of a biped robot during the single support phase,” Proceedings of IEEE international Conference on Robotics and Automation, pp. 1385-1391, 1998.  L. Roussel, C. Canudas-de-Wit, and A. Goswami, “Generation of energy optimal complete gait cycles for biped robots,” Proceedings of IEEE international Conference on Robotics and Automation, pp. 2036-2041, 1998.  Ching-Long Shih, “Ascending and Descending Stairs for a Biped Robot,” IEEE Transactions on systems ,man ,and Cybernetics-part A: systems, vol. 29,NO. 3, May 1999.  Y. Zhebg and J. Shen, “Gait sybthesis for the SD-2 biped robot to climb sloped surface,” IEEE Transactions on Robot. Automat, vol.6, no. 1,pp.86-96,1990.  W.L Luo, “Adaptive control of a two-wheel self-balancing transporter,” M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2006.  Y.C. Cheng, “Localization, Walking Control and Obstacle Avoidance of a Humanoid Soccer Robot,” M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2006.  http://en.wikipedia.org/wiki/R.U.R._(Rossum''s_Universal_Robots)  http://www.sony.co.jp/SonyInfo/QRIO/works/  http://world.honda.com/ASIMO/  http://www.wowwee.com/  http://www.kondo-robot.com/html/KHR2HV_HARD.html  http://www.zmp.co.jp/e_html/products.html http://www.flytv.com.tw/html/products/pc_camera_solutions/flycam_cf.htm  http://www.mobile01.com/iopiop/HP4700.htm  http://www.altera.com/ http://www.honeywell-sensor.com.cn/prodinfo/sensor_magnetic/software/hmr310 0_manual.pdf  http://www.playrobot.com/  http://www.analog.com/en/prod/0,,AD9220,00.html||摘要:||
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.
|Appears in Collections:||電機工程學系所|
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