臺灣博碩士論文加值系統

本論文主要是設計一個能在不同環境下穩定行走之雙足機器人。機器人可依地形條件做出合適的步行運動，同時藉由平滑的腰部運動來保持步行之穩定性。規劃其步態模型包含足部與腰部的軌跡。先設定足部的邊界條件，在用三次方曲線來產生足部軌跡。接著一樣使用三次方曲線函數來設計平滑的腰部運動同時具有最大的穩定邊限，而此腰部軌跡是採疊代的方式求得。

The main aim of this thesis is to develop a biped robot which walk stably in various enviroments. The robot can adapt to the ground conditions with suitable a foot motion, and maintain its stability by a smooth hip motion.A method is used to plan a walking pattern consisting of a foot trajectory and a hip trajectory. First, to formulate the constraints of a foot trajectory, and generate the foot trajectory by third-order spline. Then, to formulate a smooth hip motion using a third-order spline function with the largest stability margin, and derive the hip trajectory by iterative computation.

第一章 緒論 1
1.1 前言 1
1.2 研究動機與目的 2
1.3 文獻回顧 3
1.4 論文架構 5
第二章 機構設計與硬體規格 6
2.1 二足機器人之機構設計 6
2.2 硬體規格 7
2.2.1 伺服馬達 7
2.2.2 dsPIC30F6010微控制器 9
2.2.3 電池與電力驅動系統 10
2.2.4 壓力感測器 12
2.3 系統硬體架構 13
第三章 雙足步行機器人數學模型 14
3.1 機器人數學模型與假設 14
3.2 運動學介紹 16
3.3 順向運動學 16
3.4 逆向運動學 19
第四章 雙足步行機器人步行軌跡規劃 24
4.1 雙足機器人步行週期 24
4.2 步行軌跡規劃 25
4.3 步行參數介紹 25
4.3.1 步伐長度與抬腳高度 25
4.3.2 擺動足之離地角度與著地角度 26
4.4 擺動足軌跡曲線 28
4.4.1 使用三次方曲線函數之擺動足軌跡設計 31
4.4.2 擺動足軌跡模擬結果 34
4.5 腰部軌跡曲線 36
4.5.1腰部軌跡模擬結果 37
第五章 軀幹補償技術分析 38
5.1 雙足機器人之穩定性 38
5.1.1 於靜態步行模式之穩定步行 39
5.1.2 於動態步行模式之穩定步行 40
5.2 零力矩點 40
5.2.1零力矩點方程式 41
5.3 動態步行之軀幹補償技術 44
5.3.1 協助步行平衡之軀幹運動設計 44
5.4 為穩定步行之腰部運動設計 46
第六章 實驗結果 49
6.1 機器人步行實驗 49
第七章 結論與未來展望 61
7.1 結論 61
7.2 未來展望 61
參考文獻 62

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