臺灣博碩士論文加值系統

一般求解二足機器人軀幹補償技術是假設軀幹高度為常數，但這個假設會導致求解有不小的誤差，故本文提出新的求解方式來降低求解的誤差，且進一步設計一個八連桿二足機器人，利用MSC.VisualNastran 4D與Matlab結合做即時平衡控制，並探討幾個可變因子對軀幹補償技術的影響，包括：步行週期、軀幹質量、跨距及抬腳高度，以期提供相關領域人員發展建立二足機器人的資訊。結果顯示，新的求解方式可以讓實際ZMP更接近預設ZMP，且也成功得到各個可變因子對軀幹補償技術所造成的影響。

Traditionally, the control method of biped walking compensated by the trunk motion assumed that the trunk height is constant. But this is an unrealistic assumption. This thesis proposed to remove the constraint and used MSC.VisualNastran 4D and Matlab to discuss the feasibility and the effect on variable factors of trunk compensation. The variable factors include motion period, trunk weight, step length and step height. The results of simulation show that the new solution method can make the actual ZMP closer to the desired ZMP, and successfully obtain the influence on each variable factors of trunk compensation.

中文摘要 I
ABSTRACT II
目次 III
圖目錄 VI
第1章 緒論 1
1.1 前言 1
1.2 文獻回顧 1
1.3 研究動機與目的 4
1.4 本文架構 5
第2章 二足機器人之模型架構與運動學 6
2.1 二足步行機器人之模型假設與定義 6
2.2 下肢之直接運動學（DIRECT KINEMATICS） 8
2.3 下肢之反向運動學（INVERSE KINEMATICS） 9
第3章 運動軌跡規劃 14
3.1 三次多項式曲線 14
3.2 指數型速度-時間曲線 16
3.3 擺線輪廓曲線 21
3.4 軌跡規劃之比較 23
第4章 ZMP與軀幹補償之探討 25
4.1 零力矩點ZMP（ZERO MOMENT POINT） 25
4.1.1 穩定動態步行之條件 26
4.1.2 ZMP之公式推導 27
4.2 動態步行之軀幹補償技術探討 29
4.2.1 傳統上軀幹補償之求法 30
4.2.2 改良式軀幹補償之求法 31
4.2.3 傳統與改良方法比較 32
第5章 應用特性之模擬結果與討論 35
5.1 軀幹補償技術之可行性探討 35
5.2 跨步週期對軀幹補償技術的影響 46
5.3 軀幹質量對軀幹補償技術的影響 53
5.4 跨距對軀幹補償技術的影響 56
5.5 抬腳高度對軀幹補償技術的影響 62
第6章 結論與未來展望 69
6.1 結論 69
6.2 未來展望 70
參考文獻 72

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