跳到主要內容

臺灣博碩士論文加值系統

(18.97.14.81) 您好!臺灣時間:2025/02/19 04:23
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果 :::

詳目顯示

我願授權國圖
: 
twitterline
研究生:謝迺翔
研究生(外文):Nai-Hsiang Hsieh
論文名稱:智慧型控制法則於機器人運動之應用
論文名稱(外文):The Application of Intelligent Control Principle on Robot Exercise
指導教授:吳穎強
指導教授(外文):Yieng-Chiang Wu
學位類別:碩士
校院名稱:逢甲大學
系所名稱:自動控制工程學系
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:2002
畢業學年度:90
語文別:中文
論文頁數:160
中文關鍵詞:智慧型控制機器人運動基因演算法則模糊邏輯推論進化學習
外文關鍵詞:Intelligent ControlRobot ExerciseGenetic AlgorithmsFuzzy LogicalEvolution
相關次數:
  • 被引用被引用:1
  • 點閱點閱:256
  • 評分評分:
  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:5
本篇論文將介紹智慧型演繹及控制及演繹法則如何運用於機器人之運動,以及其近似行為之展現。
本研究之目的在於展示出,如何以參照自然界生物原理所發展之「智慧型演繹及控制法則」為基礎及模仿生物運動行為所設計產生之計算架構,並藉由現代快速電腦系統之輔助運算,將可對機器人之運動進行軌跡演繹及控制架構,並取得運動參數最佳值。
本篇論文之內容將包含智慧型演繹及控制法則之基礎說明及應用、機器人之架構與操控原理及運動模式說明、運動軌跡演繹及控制架構之規劃設計,並分別以機器人手及足之不同種類運動模式執行模擬;根據模擬之結果研析,該等運動軌跡演繹及控制架構確能達到預期之目標。

This thesis introduces how the intelligent control methods used in the robot exercise generation, and the approximate performing behaviors.
The goal of this thesis is to show out how an intelligent control structure, which constitute of natural biological principle and following the trajectory of biological imitation, with a rapid computer calculation to get a approximate optimum behavior.
This thesis includes the fundamental and application of the principles as above, the humanoid biped robot model appearance, the trajectories planning of motion, the controller structure and robot motion description, performing a simulation of designed motion of robot’s arm and feet, and also performing a simulation of such a controller. From the results of simulation, we can find out such as methods as trajectories plan and intelligent control structure could satisfy our goal.

第 1 章 緒論
第 2 章 機器人之架構與操控原理
第 3 章 運動演繹及控制架構之設計規劃
第 4 章 運動演繹及控制架構之模擬規劃
第 5 章 運動演繹之模擬結果與說明
第 6 章 運動致動控制之模擬結果與說明
第 7 章 運動演繹與致動控制結合之模擬結果與說明
第 8 章 結論

[1] Tesuro Kitazoe, ”Unsupervised Learning of Two Legged Robot”, IEEE International Workshop On Robot And Human Communication (1994)
[2] Jianjuen Hu, Jerry Pratt, and Gill Pratt, “Adaptive Dynamic Control of a Bipedal Walking Robot with Radial Basis Function Neural Networks”, IEEE/RSJ International Conference On Intelligent Robot And Systems (1998)
[3] Lifford L.L., McLauchlan, Rajab Challoo, S. Iqbal Omar, and Robert A. Mclauchian, “Supervised and Unsupervised Learning Applied to Robotic Manipulator” , Proceeding of the American Control Conference ( June 1994)
[4] M. Y. Cheng, C. S. Lin, “Genetic Algorithm for Control Design of Biped Locomotion”, 1995 IEEE
[5] Luis Rodrigues, Miguel Prado, Kelo da Silva, Agostinho Rosa , Paulo Tavares, “Simulation and Control of Biped Locomotion - GA Optimization”, 1996 IEEE
[6] Filipe M. Silva, J.A Tenreiro Machado, “Dynamic Performance of Biped Locomotion Systems”, AMC ‘98 - COIMBRA © 1998 IEEE
[7] Bruneau, F.B. Quezdou , “Dynamic walk simulation of Various Bipeds via Ankle Trajectory”, Proceedings of the 1998 IEE
[8] Ken’ichiro NAGASAKA, Atsushi KONNO, Masayuki INABA, Hiochica INOUE, “Acquisition of Visually Guided Swing Motion Based on Genetic Algorithms and Neural Networks in Two-Armed Biped Robot”, Proceedings of the 1997 IEEE
[9] Hani Hagras, Victor Callaghan, Martin Colley, “Online Learning of Fuzzy Behaviours using Genetic Algorithms & Real-Time Interaction with the Environment ”, Proceedings of the 1999 IEEE International Fuzzy Systems Conference
[10] E. Tunstel, M.-R. Akbarzadeh-T, K. Kumbla and M. Jamshidi, “Hybrid Fuzzy Control Schemes for Robotic Systems ”, 1995 IEEE
[11] Arpad Kelemen, Maria Imecs, Calin Rusu, “Run-Time Autotuning of a Robot Controller Using a Genetics Based Machine Learning Control Scheme”, Conference Publication No. 414, IEE, 1995
[12] Takanori SHIBATA, Toshio FUKUDA, “Intelligent Motion Planning by Genetic Algorithm with Fuzzy Critic”, Proceedings of the 1993 IEEE International Symposium on Intelligent Control
[13] Maja J Mataric, Odest C. Jenkins, Ajo Fod, and Victor Zordan, “Control and Imitation in Humanoids”, AAAI Fall Symposium on Simulating Human Agents, North Falmouth, MA, Nov 3-5, 2000
[14] Odest Chadwicke Jenkins, Maja J Mataric, and Stefan Weber, “Primitive-Based Movement Classification for Humanoid Imitation”, Proceedings, First IEEE-RAS International Conference on Humanoid Robotics (Humanoids-2000), MIT, Cambridge, MA, Sep 7-8, 2000. Also IRIS Technical Report IRIS-00-385, 2000.
[15] Maja J Mataric and Marc Pomplun, “Fixation Behavior in Observation and Imitation of Human Movement”, Cognitive Brain Research, 7(2), 1998, 191-202
[16] Ming-Yang Cheng, “Dynamic Walking for Biped Robots with Unequal-length Legs”, 1999自動控制研討會 論文集
[17] 林陵衍, “步行機器人之運動狀態規劃研究”, 逢甲大學85年碩士論文
[18] 張昆昌, “雙足步行機器人之動態模擬與控制”, 逢甲大學85年碩士論文
[19] 陳德修, “雙足機器人動作之站立控制”, 逢甲大學86年碩士論文
[20] 劉素卿, “雙足機器人快速運動演繹”, 逢甲大學87年碩士論文
[21] 洪如龍, “物件導向法則之雙足機器人動作規劃應用”, 逢甲大學87年碩士論文
[22] 林琮凱, “神經網路於雙足機器人關節軌跡規劃應用”, 逢甲大學88年碩士論文
[23] 陳建志, “應用基因遺傳演算法求解最佳機器人路徑及工件位置”, 中央大學81年碩士論文

QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top