臺灣博碩士論文加值系統

本研究的目的為實現一仿人類自然步態行走之欠致動雙足機器人。以人類自然步態行走時，支撐腳膝關節角度會伸直以降低致動器的出力；擺動腳會經歷腳跟離地（heel-off），腳掌繞腳趾關節旋轉（toe rotation），繼而腳跟碰撞（heel-strike）地面以便邁開步伐、提高行走速度。為了達成此目標，欠致動雙足機器人在矢狀平面上利用賽格威（Segway）動態穩定的概念，使零點動態作為行進的動力，而非軌跡規劃；在額狀平面上藉由腳底壓力感測器所獲得的ZMP資訊，產生機器人腿部的補償動作維持動態平衡，以增加欠致動系統的穩定性。此外，利用基於事件的控制來連貫隨著不同姿態轉變的控制目標，完成雙足機器人的連續行走。研究中以實作驗證模仿人類自然步態行走的可行性，和加入側方向動態平衡對行走的重要性。

目錄
摘要 I
Abstract II
目錄 III
圖目錄 VI
表目錄 XI
第一章 序論 1
1.1 研究動機與目的 1
1.2 雙足機器人的驅動力來源 2
1.2.1 全致動式雙足機器人 2
1.2.2 被動式雙足機器人 5
1.2.3 欠致動式雙足機器人 7
1.3 人類行走 10
1.4 論文簡介 13
第二章 欠致動雙足機器人行走策略 15
2.1 矢狀平面（sagittal plane）分析 15
2.1.1 行走過程的欠致動關節 16
2.2 雙足機器人矢狀平面行走策略 18
2.2.1 初始化階段 - 重心轉移 19
2.2.1.1 控制策略 22
2.2.2 第一階段 - 站立腳腳踝旋轉 23
2.2.2.1 控制策略 24
2.2.3 第二階段 - 站立腳腳趾旋轉 25
2.2.3.1 控制策略 27
2.2.4 第三階段 - 擺動腳著地 28
2.2.4.1 擺動腳腳跟著地 29
2.2.4.2 擺動腳腳掌著地 31
2.3 額狀平面（frontal plane）分析 32
第三章 控制器設計 36
3.1 矢狀平面（sagittal plane）的控制器設計 36
3.1.1 站立腳虛擬限制 37
3.1.2 擺動腳虛擬限制 38
3.2 額狀平面（frontal plane）的控制器設計 45
3.2.1 雙腳站立階段（double support phase） 46
3.2.2 單腳站立階段（single support phase） 52
3.3 基於事件的控制方法（event-based control）57
第四章 雙足機器人硬體架構 65
4.1 硬體架構 65
4.2 控制單元及電路 68
4.3 高低頻互補式角度感測器模組 69
4.4 腳底壓力感測器模組設計與實現 70
4.4.1 loadcell介紹與放大電路 71
4.4.2 壓力感測器模組機構設計 74
4.4.3 壓力感測器模組化 75
4.4.4 壓力感測器模組量測與ZMP計算 76
4.5 致動器 80
第五章 實驗結果 83
5.1 額狀平面（frontal plane）定點動態平衡實驗 83
5.2 雙足機器人行走實驗 84
第六章 結論與未來方向 93
6.1 結論 93
6.2 未來方向 94
附錄 95
參考文獻 97

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