臺灣博碩士論文加值系統

高自由度且行走時無固定支點的人形機器人，使其穩定步態規劃不容易，加上地面衝擊力(Impact Effect)或外力干擾，使得規劃的穩定步態難以實現，中大型人形機器人放大此不良影響，使其穩定行走更具挑戰性。本研究利用加裝在機器人身體中心的慣性感測器(Inertial Measure Unit；IMU)，配合將人形機器人的動力學模型近似成線性倒單擺(Linear Inverted Pendulum Model；LIPM)，進行步行穩定控制。
研究中首先利用線性倒單擺模型規劃人形機器人的步態軌跡，藉由六軸慣性感測器(包含三軸陀螺儀及三軸加速度計)估測機器人上半身行走時姿態變化，並設計PD控制器，針對人型機器人側平面(Sagittal Plane)及前平面(Frontal Plane)進行穩定行走的控制。姿態估測方面是將陀螺儀資訊經過四元數運算估測出其滾動角(Roll)與俯仰角(Pitch)，再利用加速度計資訊做靜態誤差校正。本研究包括一個95公分高，7.9公斤重之中型機器人(Teen-Sized Humanoid Robot)的實際實驗，實驗包含直線行走測試、踩到高起物穩定性測試、行走時受外力穩定性測試，另外也加入針對姿態估測準確度做測試。實驗結果證實可利用機器人上半身姿態變化為依據設計一控制器使機器人達到穩定行走。

High degree of freedom and no-fixed support point during walking make the stable walking gait planning of humanoid robots difficult. The impact effect from ground and external disturbance make the stable walking gait hard to implement. In addition, the teen-sized humanoid robots amplify the bad effect to have more challenge for stable walking. In this research, Inertial Measure Unit (IMU) installed in the body of humanoid robot provides for the stable control of humanoid robot walking based Linear Inverted Pendulum Model (LIPM).
In this research, the walking gait of humanoid robot is planned based on LIPM. According to the Attitude of upper body estimated by six-axis IMU, PD controllers on the sagittle and front planes of humanoid robot are designed for the control stable walking. According to the calculation of four elements, the Attitude estimator measures the signals of roll and pitch compensated by accelerometer information for static error correction. In this research, the experiments of a teen-sized humanoid robot with tall 95cm and weight 7.9 Kg is also included for demonstration. The experiments include walking on a straight line, stepping on a little high plane for stability robustness, and external force rejection for stable walking. In addition, the accurate of body Attitude is tested. Experiment result demonstrates that the controllers based on upper body Attitude can control the humanoid robot for stable walking.

摘要 i
ABSTRACT ii
誌謝 iii
目錄 iv
圖目錄 vi
表目錄 x
第一章 緒論 1
1.1 研究目的及動機 1
1.2 文獻回顧 1
1.3 章節架構 2
第二章 仿人形機器人運動學模型 3
2.1 建立及定義機器人模型 3
2.2 順向運動學 4
2.2.1 D-H參數規則 4
2.2.2 D-H參數轉換矩陣 6
2.2.3 驗證順向運動學 9
2.3 逆向運動學 12
第三章 步態規劃 16
3.1 腰部軌跡規劃 17
3.1.1 倒單擺模型 17
3.1.2 線性倒單擺 22
3.1.3 三維軌跡生成 29
3.1.4 腰部軌跡修正 32
3.2 腳踝軌跡規劃 33
第四章 姿態估測及穩定性控制 35
4.1 姿態估測 35
4.1.1 尤拉角 35
4.1.2 四元數 38
4.1.3 四元數微分方程 40
4.2 平衡控制器 42
4.2.1 PD控制器 43
4.2.2 受干擾預測落點 46
第五章 實驗結果 48
5.1 仿人型機器人平台介紹 48
5.1.1 自由度配置及基本規格 49
5.1.2 控制板及軟體介紹 51
5.2 姿態估測測試 59
5.2.1 Roll角度測試 61
5.2.2 Pitch角度測試 62
5.3 步行穩定性測試 64
5.3.1 未加入控制器直走測試 65
5.3.2 加入控制器直走測試 68
5.3.3 不平地面行走 71
5.3.4 受推力維持穩定行走 74
第六章 結論與未來展望 77
6.1 結論 77
6.2 未來展望 77
參考文獻 78

[1]Kai-Tai Song and Chang-Hung Hsieh, 2014, “CPG-Based Control Design for Bipedal Walking on Unknown Slope Surfaces”, IEEE International Conference on Robotics & Automation (ICRA), Hong Kong,May 31 - June 7, 5109-5114.
[2]Gen Endo, et al., 2005, “Experimental Studies of a Neural Oscillator for BipedLocomotion with QRIO”, IEEE International Conference on Robotics and Automation, Barcelona,Spain, April 18-22, pp.596-602.
[3]Zhankui Song and Guoqiang Zhao, 2010, “GA-based optimization of biped robot gait control of CPG model”, 2010 3rd International Conference on Advanced Computer Theory and Engineering (ICACTE), Chengdu,China, Aug 20-22，pp.V3 392-395.
[4]Young-Dae Hong, Chang-Soo Park and Jong-Hwan Kim, 2014, “Stable Bipedal Walking With a Vertical Center-of-Mass Motion by an Evolutionary Optimized Central Pattern Generator”, IEEE Transactions on Industrial Electronics, VOL.61, NO.5, pp.2346-2355, May.
[5]Shuuji Kajita, et al. ,2010, “Biped Walking Stabilization Based on Linear Inverted Pendulum Tracking”, IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei,Taiwan, October 18-22, pp. 4489-4496.
[6]Shuuji Kajita, et al. , 2001, “The 3D Linear Inverted Pendulum Mode A simple modeling for a biped walking pattern generation”, IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui Hawaii,USA, Oct.29-Nov.03, pp.239-245 VOL.1.
[7]Van-Huan Dau , Chee-Meng Chew and Aun-Neow Poo, 2010, “Planning Bipedal Walking Gait Using Augmented Linear Inverted Pendulum Model”, IEEE Conference on Robotics Automation and Mechatronics, Singapore, June 28-30, pp.575-580.
[8]Philippe Sardain and Guy Bessonnet ,2004, “Forces Acting on a Biped Robot. Center of Pressure—Zero Moment Point”, IEEE Transactions on Systems, Man and Cybernetics-Part A: Systems and Humans, VOL.34, NO.5, pp.630-637, Setp. .
[9]Kensuke Harada, et al. , 2009, “Toward Human-Like Walking Pattern Generator”, IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis,USA, Oct. 11-15, pp.1071-1077.
[10]Kanako Miura, et al. , 2009, “Robot motion remix based on motion capture data towards human-like locomotion of humanoid robots”, IEEE-RAS International Conference on Humanoid Robots, Paris,France, Dec. 7-10, pp.596-603.
[11]Sung-Hee Lee and Ambarish Goswami, 2010, “Ground reaction force control at each foot: A momentum-based humanoid balance controller for non-level and non-stationary ground”, IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei,Taiwan, Oct. 18-22, pp.3157-3162.
[12]Ren C. Luo, et al. , 2013, “Biped Robot Push and Recovery Using Flywheel Model Based Walking Perturbation Counteraction”, IEEE-RAS International Conference on Humanoid Robots, Atlanta,Georgia, Oct. 15-17, pp.50-55.
[13]Seung-Joon Yi, et al. , 2011, “Practcal Bipedal Walking Control on Uneven Terrain Using Surface Learning and Push Recovery”, IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco,USA, Sep. 25-30, pp.3963-3968.
[14]Seung-Joon Yi, et al. , 2011, “Online Learning of a Full body Push Recovery Controller for Omnidirectional Walking”, IEEE-RAS International Conference on Humanoid Robots, Bled,Slovenia, Oct. 26-28, pp.1-6.
[15]Awais Yasin, et al. , 2012, “Stepping to Recover: A 3D-LIPM Based Push Recovery and Fall Management Scheme for Biped Robots”, IEEE International Conference on Robotics and Biomimetics, Guangzhou,China, Dec. 11-14, pp.318-323.
[16]Awais Yasin, et al. , 2012, “Biped Robot Push Detection and Recovery”, IEEE International Conference on Information and Automation, Jun. 6-8, Shenyang,China, pp.993-998.
[17]Inyong Ha, Yusuke Tamura, and Hajime Asama, 2011, “Gait Pattern Generation and Stabilization for Humanoid Robot Based on Coupled Oscillators”, IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco,USA, Set. 25-30, pp.3207-3212.
[18]Marcell Missura and Sven Behnke, 2011, “Lateral Capture Steps for Bipedal Walking”, IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia, Oct. 26-28, pp.401-408.
[19]Hyun-jin Kang, et al. , 2012, “Biped Walking Stabilization on Soft Ground Based on Gait Analysis”, IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Roma,Italy, Jun. 24-27, pp.669-674.
[20]梶田秀司，2007，仿人機器人(Humanoid Robots)，第一版，管貽生譯，北京:清華大學出版社，北京。
[21]John J.Craig，2006，機器人學導論(Introduction to Robotics Mechanics and Control)，原著第三版，贠超譯，機械工業出版社，北京。
[22]劉正隆，2006，慣性技術，第一版，哈爾濱工業大學出版社，哈爾濱。
[23]蔡銘芳，2010，大型仿人型機器人研製與其步態實現，國立高雄第一科技大學系統資訊與控制工程研究所，碩士論文。
[24]廖述翔，2014，基於倒單擺模型之仿人機器人步態的設計與實現，國立高雄第一科技大學電機工程研究所，碩士論文。
[25]王文宏 四元數推導網站，2015.06，檢自https://www.google.com.tw/url?sa=t&rct=j&q=&esrc=s&source=web&cd=4&ved=0CDQQFjADahUKEwjDl5GTo67HAhWFF5QKHUt6Bao&url=http%3A%2F%2Fqcopter.googlecode.com%2Ffiles%2F%25E6%258E%25A8%25E5%25B0%258E_%25E5%259B%259B%25E5%2585%2583%25E6%2595%25B8.pdf&ei=GNzQVcOrHIWv0ATL9JXQCg&usg=AFQjCNHz3P-C0WpWzC6rdVf9LxjdWagbtg&sig2=fBH8arfNijjZ6oNziguxWw&bvm=bv.99804247,d.dGo&cad=rja。
[26]X-IO Technologies，2015.06，檢自http://www.x-io.co.uk/。
[27]ROBOTIS e-MANUAL，2015.06，檢自http://support.robotis.com/en/。