臺灣博碩士論文加值系統

人型機器人生成步行軌跡後，可能受到外力的干擾或者地形的影響，需要實時進行控制保持穩定。本文提出了在諸如摩擦力、ZMP等物理量約束下，計算最佳接觸力的方法，並透過改變腳底板的力矩和兩腳高度差等方式實現最佳化接觸力。通常在固定坐標系逆運動學下，站立腳的位置和旋轉姿態矩陣都無法改變，只能通過改變腳底板腳踝角度間接實現腳底旋轉姿態改變。本文提出了懸浮坐標系的逆運動學，可以同時改變擺動腳和站立腳的旋轉姿態矩陣和位置。除了腳底板接觸力控制作為穩定器外，本文還提出了質心控制穩定器作為基本的穩定器。綜合上述方法可使機器人適應更多地形，並且實現穩定行走。

After the generation of walking trajectory for a humanoid, it is essential to keep balance by real-time controller to overcome the disturbance from external force or terrain. In this thesis, the desired contact wrench is derived under physical constraints such as friction constraint or ZMP constraint. The desired contact wrench is realized by foot torque controller and force difference controller. Generally, the position and rotation matrix of stance leg cannot be changed under fixed base inverse kinematics. One proposed remedy is to compensate for ankle angles indirectly to realize the desired rotation matrixes. Using floating base inverse kinematics, it is feasible to change the rotation matrixes and positions of the stance leg and the swing leg at the same time. Besides the contact wrench controller, a COG controller is proposed as a basic stabilizer. The balancing control based on the methods mentioned above makes the humanoid robot adapt to more terrain and walk stably.

誌謝 i
摘要 ii
Abstract iii
List of Tables vii
List of Figures viii
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Background Knowledge 2
1.3 Contributions 10
1.4 Framework of the Thesis 11
Chapter 2 Walking Pattern Generation 13
2.1 Introduction 13
2.2 Pattern Generation 14
2.2.1 Inverted Pendulum Model 14
2.2.2 Linear Quadratic State-Incremental Control 16
2.3 State Estimator 18
2.3.1 System Model 19
2.3.2 Sensor Model 20
2.4 Summary 23
Chapter 3 Floating Base Kinematics 25
3.1 Background 26
3.2 Conventional Jacobian Matrix 28
3.3 Fixed Jacobian Matrix 31
3.3.1 Calculation of Fixed Jacobian Matrix 31
3.3.2 Fixed COG Jacobian 34
3.4 Floating Base Jacobian Matrix 37
3.4.1 Introduction 37
3.4.2 Derivation of Generalized Floating Jacobian 39
3.4.3 COM and Linear Momentum Jacobian 42
3.5 Summary 44
Chapter 4 Contact Wrench Controller and Stabilizer 47
4.1 Introduction 47
4.1.1 Common Way --Ankle Hip Step 47
4.1.2 Complicated Way 51
4.2 Compute Optimal Desired Contact Wrench 53
4.2.1 Physical Constraints 53
4.2.2 Derivation of Quadratic Programming Form 61
4.3 Contact Wrench Controller 66
4.3.1 Foot Torque Control 66
4.3.2 Foot Force Difference Control 69
4.4 Stabilized Controller Design 71
4.5 Summary 74
Chapter 5 Simulations and Experiments 77
5.1 Simulation Environment 77
5.2 Specification of the NTU Humanoid Robot 78
5.3 Simulation Scenarios and Results 79
5.3.1 Walking on the Brick 79
5.3.2 Walking with Disturbance 84
5.4 Experiment Scenarios and Results 86
5.4.1 Walking on Two Slopes 87
5.4.2 Walking on the Brick 92
5.4.3 Walking on the Lawn 94
5.4.4 Walking on different terrain 99
5.5 Summary 101
Chapter 6 Conclusions and Future Works 103
6.1 Conclusions 103
6.2 Future Works 104
Appendix A The Inertia and Mass of the Robot 107
References 111

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