臺灣博碩士論文加值系統

本論文主要研究的是模擬16個自由度的雙足步行機器人之步行規劃與平衡控制。本研究採用D-H法推導雙足機器人之順、逆向運動學，透過機器人移動軌跡規劃與順、逆向運動學，得知機器人於空間中之運動狀態。另外本實驗根據模糊理論架構出一模糊平衡控制器，透過模糊平衡控制器幫助機器人於空間中平衡行走。不同於其他相關研究之模糊控制器，本控制器以合力矩為輸入，透過模糊平衡控制器，輸出適當的軀幹補償角度，幫助機器人平衡行走。

The goal of this study is design a 16-D.O.F biped robot and simulate walking pattern of biped walking robot. This paper use the D-H method to calculate direct and inverse kinematics of the robot. By designing the moving path and calculating the kinematics of the biped robot, we discuss the walking pattern of the robot in space. Besides this, this research design a fuzzy balance controller to help biped robot walking stability. It’s very different with other balance controller of biped robot. The input of this controller is the moment of the biped robot. The Output of the controller is the angle of trunk compensation. In this paper we use the fuzzy balance controller to make robot achieve dynamic balance.

摘要 I
Abstract II
誌謝 III
目錄 IV
圖索引 VI
表索引 VII
第一章 緒論 1
1.1 前言 1
1.2 研究背景 2
1.3 研究動機與目的 5
1.4 論文架構 6
第二章 雙足機器人運動學分析 8
2.1 雙足機器人模型建立 10
2.2 D-H座標連桿表示法 11
2.3 雙足機器人之足部運動學分析 14
2.4 雙足機器人之軀幹運動學分析 23
2.5 機器人移動軌跡規劃 25
第三章 雙足機器人之平衡控制 29
3.1 零力矩點與變動零力矩點 30
3.2 軀幹補償 33
3.3 模糊平衡控制器 39
3.4 穩定度判斷 47
3.5 緊急停止系統 51
第四章 模擬結果與討論 57
4.1 模擬架構與流程 57
4.2 移動模擬 62
4.2.1 無外力影響之移動行走 62
4.2.2 具外力影響之移動行走 73
第五章 結論與未來展望 83
5.1 結論 83
5.2 未來展望 83
參考文獻 85

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