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研究生:許育彰
研究生(外文):Xu, Yu-Zhang
論文名稱:步行機之能量與週期性步態最佳規劃
論文名稱(外文):Minimum Energy and Optimal Periodic Gaits Planning of a Walking Machine
指導教授:王文智李祖添李祖添引用關係
指導教授(外文):Wang, Wen-ZhiLi, Zu-Tian
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:電機工程技術研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:1997
畢業學年度:85
語文別:中文
論文頁數:94
中文關鍵詞:電機工程
外文關鍵詞:ELECTRICAL-ENGINEERING
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In this thesis, we will explore the minimum energy and time-
optimal trajectory planning in periodic gaits of the quadrupedal
walking machine. In general, the legged walking machines are
more suitable than wheeled or tracked vehiclesto walk on a
rough/soft terrain, and the energy efficiency and the speed are
crucial issues for the researches of walking machines.
Therefore, researches inthese areas would be significant and
important. Firstly, we will present an efficient algorithm, the
Compact QP method, to solve a constrained quadratic-optimization
problem in order to make thiswalking machine walk with minimum
energy consumption in real time. Then, a comparison of the
proposed method with the traditional pseudo-inverse methodwill
be given to show the superiority.Moreover, a minimum time
algorithm will also be proposed and improved to implement the
time-optimal path planning of the leg in the transfer phase.
Furthermore, the derived results can be employedto the time-
optimal trajectory planning of the whole quadrupedal walking
machinein different periodic gaits. Simulation results show
that the proposed methods are valid and efficient forthis
walking machine.

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