臺灣博碩士論文加值系統

本論文研究目的，主要藉由一步行機器人平台分析其運動特性，並由步行模式與步行週期，規劃足部各關節運動軌跡。對於步行機器人建構相關連桿座標系統，探討其機器結構，以D-H變換矩陣為基礎，並以腳板為基座討論順向運動學，尋得各關節旋轉角變換至髖關節位置與方向之關係，續以逆向運動學代數解法討論由腳板至髖關節之位置及方向和各關節旋轉角在空間中之一般關係。接著討論機器人步行運動模式，分析比較靜態步行與動態步行之不同，分別做出步行週期規劃，並以擺線規劃模擬運動軌跡。最後藉由步行機器人實際步行影像擷取，與理論上各關節運動軌跡相比較，再與人類行走軌跡比較。

The purpose of this research is to investigate the kinematics behavior of a biped robot and program motion trajectory of each foot joints through discussion of various walking types and walking gait cycles. The linkage frame system is first established to construct its mechanical structure. Then, base on Denavit-Hartenberg transformation, the relationship transferred from joint rotation angles to the position and orientation of the hip joint is obtained by forward kinematics. On the other hand, once the position and orientation of the hip in 3-dimensional space is obtained, a nonlinear algebraic solution of each joint rotation angle will be developed by inverse kinematics. Static walking and dynamic walking types are thereafter compared and analyzed to program suitable walking gait cycle. Trajectory planning method is required to achieve smooth walking through a cycloid spline interpolation. Finally, the Bioloid biped robot is programmed to walk smoothly and generate each joint movement trajectory compared with cycloid spline and human walking.

目錄
摘要 .......................................................i
Abstract .................................................ii
致謝 .....................................................iii
目錄 ......................................................iv
圖目錄 ...................................................vii
表目錄 ....................................................xi
第一章 序論 .................................................1
1-1前言 ...............................................1
1-2文獻回顧 ............................................3
1-3研究動機與重要性 ......................................5
1-4研究目的與方法 .......................................6
1-5論文大綱 ............................................6
第二章 二足機器人機械架構及運動學 ...............................8
2-1二足機器人結構與控制軟體 ................................8
2-1-1機器人組件 .....................................8
2-1-2控制軟體 .....................................10
2-1-2-1行為控制(Behavior Control)軟體 ..........10
2-1-2-2動作編輯器(Motion Editor)軟體 ............11
2-1-2-3機器人終端機(Robot Terminal)軟體 .........12
2-1-3機器人關節偏移調整 .............................13
2-2機器人步行運動學 .....................................14
2-2-1機器人運動學 ..................................14
2-2-2二足機器人架構 .................................18
2-2-3二足機器人順向運動學 ............................21
2-2-4二足機器人逆向運動學 ............................28
2-2-5以EXCEL驗證運動學公式之正確性 ....................41
第三章 雙足機器人步行運動之軌跡規劃 .............................42
3-1步行模式與分析 .......................................43
3-1-1靜態步行模式 ..................................44
3-1-2動態步行模式 ..................................44
3-2步行週期規劃 ........................................47
3-2-1靜態步行重心位置 ...............................48
3-2-2靜態步行週期規劃 ...............................49
3-2-3零力矩點 .....................................51
3-2-4零力矩點公式推導 ...............................52
3-2-5動態步行周期規劃 ...............................57
3-3運動軌跡規劃 ........................................57
3-3-1擺線 .........................................58
3-3-2步行運動擺線方程式 .............................58
第四章 實驗分析結果與驗證 .....................................62
4-1各關節運動軌跡移動量測 ...............................63
4-1-1髖關節運動軌跡 ................................63
4-1-2膝關節運動軌跡 ................................65
4-1-3踝關節運動軌跡 ................................67
4-1-4腳板運動軌 跡.................................69
4-2各關節步行軌跡比較 ..................................71
4-3各關節軌跡與擺線比較 .................................72
第五章 結論與未來方向 ........................................78
5-1結論 ..............................................78
5-2未來方向 ..........................................80
參考文獻 ..................................................82

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