臺灣博碩士論文加值系統

雙足架構的機器人非常適合應用於人類的生活環境中，然而雙足行走的機構包含了複雜的運動學，使得控制雙足機器人有許多的困難。在機器人行走時，位於機器人腳底的零力矩點(Zero Moment Point)是穩定性的指標，因此，本研究旨在探討零力矩點和雙足機器人穩定步態之間的關係。研究內容包含零力矩點軌跡的演算法和雙足機器人擬人步態的穩定控制。經由動作擷取系統擷取演員的各種步態的行走資料，用零力矩點的軌跡分析這些步態的穩定性，再將處理後的步態資料依演員與雙足機器人的比例關係，套用至雙足機器人，檢視是否能得到擬人且穩定的行走步態。本研究藉零力矩點分析演員和雙足機器人穩定行走控制之間的關係，提出產生雙足機器人步態的方法，也藉ZMP的分析與實驗證實本文所設計之方法能夠控制雙足機器人產生穩定且擬人行走的步態。

Bipedal architectures are highly suitable for robots that work in human environments. However, the complex dynamics involved in the walking mechanism make the controls for such a robot a challenging task. The zero moment point (ZMP) beneath the robot’s foot is a significant criterion for robot stability during walking. The aim of this thesis is therefore to explore the ZMP relationship in biped walking robot stable control. This research involves an algorithm for controlling the ZMP trajectory and biped robot stable humanlike walking pattern control. The walking pattern data of an actor is recorded using a motion capture system. The stability is analyzed by calculating the ZMP trajectory of the walking pattern. After the walking pattern data are mapped onto the biped robot, the robots’ ability to generate a stable humanlike walking pattern or not is surveyed. This study may be of importance in explaining the relationship between the human ZMP and biped robot stable walking control. The experimental results verify that the proposed method can generate a stable humanlike walking pattern for a biped robot.

目 錄
摘 要 I
ABSTRACT II
謝 誌 III
目 錄 IV
圖目錄 VI
表目錄 VIII
第一章 緒論 1
1.1 研究動機與目的 1
1.2 文獻探討 2
1.3 論文架構 6
第二章 步態零力矩點分析 8
2.1 零力矩點 8
2.2 傅立葉擬合 16
2.3 連桿質心 21
第三章 實驗結果 27
3.1 ZMP計算 30
3.2 步態測試 45
第四章 結論 50
參考文獻 52

圖目錄
圖 2.1 作用於腳底的接觸力與其力矩 9
圖 2.2 壓力中心點 10
圖 2.3 質量中心的重力慣性力矩與零力矩點 12
圖 2.4 零力矩點的穩定範圍 15
圖 2.5 右髖關節Roll方向旋轉角度軌跡 16
圖 2.6 原始與傅立葉擬合後的Hip Roll Joint軌跡 17
圖 2.7 原始與傅立葉擬合後的Hip Pitch Joint軌跡 18
圖 2.8 原始與傅立葉擬合後的Knee Pitch Joint軌跡 18
圖 2.9 原始與傅立葉擬合後的Ankle Pitch Joint軌跡 19
圖 2.10 原始與傅立葉擬合後的Ankle Roll Joint軌跡 19
圖 2.11 機器人腳部之座標系統示意圖 24
圖 3.1 步態型式 27
圖 3.2 行走步態映射演算法流程圖 28
圖 3.3 演員骨架 29
圖 3.4 雙足機器人骨架 29
圖 3.5 演員正常步態傅立葉擬合軌跡 32
圖 3.6 演員非正常步態傅立葉擬合軌跡 33
圖 3.7 演員正常步態的各質心位置與加速度軌跡 35
圖 3.8 演員非正常步態的各質心位置與加速度軌跡 35
圖 3.9 演員正常步態傅立葉擬合後的ZMP軌跡 36
圖 3.10 演員正常步態傅立葉擬合後的ZMP軌跡與動畫 36
圖 3.11 演員非正常步態傅立葉擬合後的ZMP軌跡 37
圖 3.12 演員非正常步態傅立葉擬合後的ZMP軌跡與動畫 37
圖 3.13 機器人正常步態傅立葉擬合軌跡 40
圖 3.14 機器人非正常步態傅立葉擬合軌跡 41
圖 3.15 機器人正常步態的各質心位置與加速度軌跡 42
圖 3.16 機器人非正常步態的各質心位置與加速度軌跡 42
圖 3.17 機器人正常步態傅立葉擬合後的ZMP軌跡 43
圖 3.18 機器人正常步態傅立葉擬合後的ZMP軌跡與動畫 43
圖 3.19 機器人非正常步態傅立葉擬合後的ZMP軌跡 44
圖 3.20 機器人非正常步態傅立葉擬合後的ZMP軌跡與動畫 44
圖 3.21 演員正常步態 46
圖 3.22 機器人正常步態 47
圖 3.23 演員非正常步態 48
圖 3.24 機器人非正常步態 49

表目錄
表 2.1 傅立葉擬合之係數表 20
表 2.2 雙足機器人各軸座標轉換的關係 23
表 3.1 演員身體各部位的尺寸與質量 34
表 3.2 調整係數表 38
表 3.3 機器人雙足各部位的尺寸與質量 39

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