臺灣博碩士論文加值系統

在本研究當中針對一個有 12 個自由動的二足機器人做離線式的步行的軌跡設計。為了加強單純的反向運動學所設計的步行軌跡，利用單一馬達扭力的計算公式作為為基礎，推導出幾個步行過程當中會出現的姿勢所需要的扭力計算公式作為限制條件，使得設計出的軌跡具有更高的可實行性。
在軌跡的反向運動學方面，將機構分為兩個平面計算，並且將一個多軸的機構簡化為數個較為單純的二軸機構結合，避免多軸機構過於複雜而需要使用數值方法來作計算造成的誤差。
最後將計算出的路徑軌跡套用到實際的機器人上，讓機器人可以做出直走以及轉向的動作。

This thesis will plan some off-line walking trajectory for a 12 DOF biped robot. Those trajectories are walking straightly, and turning. For those
purpose, the walking trajectory Planning must consider about the torque output limit of motors. Thus, the research will compute the motor’s torque during walking, and set it as constrains.
When planning the walking trajectory, this research will generate independent trajectory on coronal plane and sagital plane, and combine to a 3D trajectory. The mechanism will use two two-link mechanisms for trajectory generating, and combining all the two-link mechanisms that is the trajectory of the whole mechanism.
Finally, the off-line trajectory will apply in the real biped robot, and check it available or not.

TABLE OF CONTENTS
ENGLISH ABSTRACT…………………………………………………..…i
CHINESE ABSTRACT…………………………………………………..…ii
ACKNOWLEDGEMENTS…………………………………………..….…iii
TABLE OF CONTENTS……………………………………………………iv
CHAPTER
1 Introduction………………………………………………………..1
1.1 Motivation…………………………………………………1
1.2 Chapter Outline……………………………………………1
2 Literature Review………………………………………………….3
2.1 Trajectory Planning of Biped Robot in Static Walking……3
2.2 Zero Moment Point………………………………………...4
2.3 Other Researches about Biped Robot……………………...6
3 The Analyses about Single Support Phase…………………………8
3.1 The Model of the Biped Robot…………………………….8
3.2 Compute Torque Output of the Leg’s Motor……………..15
3.3 Changing from Double Support Phase to Single Support
Phase………………………………………………….…20
3.4 Swimming Leg Moving and the Loading Changing in
Supporting Leg………………………………………..27
3.5 Supporting Leg Moving and the Loading Changing…..32
4 Walking Trajectory Planning for a Biped Robot………………38
4.1 Stable Region of Zero Moment Point…………………38
4.2 Walking Trajectory for Biped Robot Walking in a Straight
Line……………………………………………….…..42
4.3 Walking Trajectory for Biped Robot Turning…………50
4.4 Walking Trajectory on a Slope………………………...54
5 Results and Discussion………………………………………..56
5.1 The Biped Robot That Using in This Thesis…………..56
5.2 Results…………………………………………………58
5.3 Problem and Discussion……………………………….66
6 Conclusions and Future Work…………………………………67
6.1 Conclusions……………………………………………67
6.2 Future Work……………………………………………67
REFERENCE……………………………………………………………136

目錄
英文摘要……………………………………………………………………..i
中文摘要…………………………………………………………………….ii
誌謝…………………………………………………………………………iii
目錄…………………………………………………………...……………vi
第一章 緒論……………………………………………………………….68
1.1 研究動機………………………………………………………...68
1.2 本文概觀……………………………………………………...…68
第二章 文獻回顧………………………………………………………….70
2.1 靜態步行的軌跡設計…………………………………………..70
2.2 零力矩點的介紹………………………………………………..71
2.3 其他二足機器人的研究………………………………………..73
第三章 二足機器人單腳站立狀態的分析……………………………….75
3.1 二足機器人的機構模型………………………………………..75
3.2 支撐腳的輸出扭力計算公式推導……………………………..82
3.3 重心移動至單腳………………………………………………...87
3.4 游移腳對於支撐腳的影響分析……………………………...…94
3.5 支撐腳的動作分析……………………………………………...99
第四章 二足機器人行走軌跡規劃….…………………………………..104
4.1 零力矩點之穩定範圍分析…………………………………….104
4.2 水平面直線行走軌跡的規劃………………………………….108
4.3 水平面行走轉向軌跡的規劃………………………………….117
4.4 上下坡軌跡的規劃…………………………………………….121
第五章 實作結果與討論………………………………………………...123
5.1 實作設備介紹…………………………………………………123
5.2 實作結果……………………………………………………….125
5.3 實作時發現的穩定性問題…………………………….………134
第六章 結論與未來展望…………………………………………..….…135
6.1 結論……………………………………………………………135
6.2 未來展望…………………………………………………..…..135
參考文獻………………………………………………………………….136

REFERENCE
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