臺灣博碩士論文加值系統

This study presents a walking locomotion of whole body humanoid robot via real human movements. The humanoid robot contains the torso, the upper and lower arms, the thighs, the shanks and the feet, 11 segments totally, which is a complex robot model possessing 11 degree of freedoms (11-DOFs). In order to imitate the real human walking locomotion, we record the profile of each segments of body while human walking, and provide the profile to the humanoid robot to mimic and track for the purpose of making the robot be similar to human. Moreover, for the sake of constructing the robot walking control problem with more authenticity, several effects of perturbation when human walking, such as the ground reaction force when the body applies forces on the ground, the impulse disturbance produced from the feet colliding with the ground, and the internal electromyo noisy interference in organism, are all considered in the whole body humanoid robot walking control design. Through the nonlinear adaptive tracking control via the neural fuzzy networks, we realize the whole body humanoid robot to imitate the real human walking trajectories. Therefore, the robust tracking control algorithm in this paper is more close to walking control ability of human, and enables the humanoid robots to walk more similarly to real human beings.

本篇論文呈現具有人類真實行走動作的全身人形機器人控制，此一人型機器人包含軀幹、雙手的上下手臂，以及雙足的大腿、小腿和腳底板部份，共計考慮了11個身體部位，建構出一個具有11個自由度(11-DOFs)的複雜機器人系統。接著，為了模仿真實人類行走動作，我們紀錄了真人行走時各個重要部位的關節角度，並予以機器人模仿及追蹤，使機器人能行走的更接近真實人類。為了建構更具真實性之行走機器人系統控制，本論文探討了數種真實人類行走所遭遇的干擾，包含了人類行走時地面反作用力如何對機器人系統控制產生干擾，以及腳掌因踏觸地面及碰撞地面時產生的脈衝干擾，並考慮人體肌肉施力時所產生的額外肌肉放電干擾，皆在此篇論文當中討論之。如此建構出一個完整的人形行走機器人，同時考慮真實世界產生的雜訊干擾，接著透過神經模糊網路的非線性適應性 強健追蹤控制此複雜之行走機器人系統。先以適應性類神經模糊推論系統(ANFIS) 消除機器人控制系統大部分的非線性干擾以及系統不確定性之干擾，接著以 適應性控制方法對處理過後之系統殘餘誤差項進行強健控制，使機器人行走控制系統更加精準穩定，故我們實現了全身人形機器人模仿真實人類行走任務。因此，本篇論文的強健追蹤控制更加接近人類的行走身體控制能力，並使此人型機器人以更接近人類的動作方式行走。

Abstract i

Contents ii

List of Figures iii

List of Tables v

Chapter1 Introduction 1

Chapter2 11-DOFs Humanoid Robot Model 6
2.1 Real Human Walking Profile 6
2.2 Robot Dynamics with Real disturbances while Human Walk 8

Chapter3 Robust Adaptive Tracking Control Law 34

Chapter4 Simulation of Humanoid Robot Walking 59

Chapter5 Conclusion 71

Bibliography 72

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