二維五連桿二足機器人週期性步行之分析與設計｜國立臺灣科技大學博碩士論文系統

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研究生：	古均峰 Chun-feng Ku
論文名稱：	二維五連桿二足機器人週期性步行之分析與設計 Analysis and Design of Periodic Walking of a Five-link 2D Bipedal Robot
指導教授：	施慶隆 Ching-long shih
口試委員:	劉昌煥 Chang-huan Liu 李文猶 Wen-yo Lee
學位類別：	碩士 Master
系所名稱：	電資學院 - 電機工程系 Department of Electrical Engineering
論文出版年：	2007
畢業學年度：	95
語文別：	中文
論文頁數：	98
中文關鍵詞：	二足機器人、週期性步行、零動力系統、步行模式優化設計
外文關鍵詞：	bipedal robot, periodic walking, zero dynamics, dynamic optimization of walking
相關次數：	點閱：216 下載：10
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本論文進行五連桿二足機器人於平面週期步行的分析與設計。五連桿二足機器人的步行運動是複雜的，為了簡化分析本文只考慮機器人在側視平面的運動。二足機器人的步行過程可分解成單腳支撐相和雙腳支撐相。二足機器人的混合動力方程式是非線性而且高維度的，運用零動力理論與虛擬限制的概念，機器人可表示為一維二階的零動力方程式。依據機器人的機械及幾何參數，本文可以解出機器人週期性步行的動態行為，並由機器人性能優化模式來決定機器人的運動參數。首先設定代表二足機器人性能的優化函數和特性的限制條件，以優化工具解出機器人的運動參數，最後模擬二足機器人各種步行模式的週期性動態行為。

This thesis studies on the analysis and design of a five-link bipedal robot that can walk periodically. The analysis of the walking behavior of a five-link bipedal robot is very complicated. In order to simplify the analysis, only the walking motion of the bipedal robot in sagittal plane is considered. The biped's walking motion consists of successive phases of single support and double support, and its hybrid mathematical model of walking is non-linear and high dimensional. Using concepts of zero dynamics and virtual constraints, the dynamical equation of the bipedal robot can be treated as an one-dimensional first-order equation. Given a set of robot's parameters and from an optimization program, one can obtain a dynamic periodic walking of the bipedal robot. By setting an optimization function and various constraints, and then using the tool of optimization, one can simulate the periodically dynamical behavior of bipedal robot in various walking motion.

目錄……………………………………………………………………i
誌謝……………………………………………………………………v
中文摘要………………………………………………………………ix
英文摘要………………………………………………………………x
圖表索引………………………………………………………………xi
第一章　緒論…………………………………………………………1
1   前言………………………………………………………1
2   研究回顧…………………………………………………2
3   研究動機與目的…………………………………………5
4   論文架構…………………………………………………6
第二章　步態模型與動力方程式……………………………………8
1   二足機器人模型…………………………………………9
2   二足機器人步行狀態……………………………………11
3   二足機器人數學模型……………………………………14
3.1 直接運動學方程式…………………………………16
3.2 反運動學方程式……………………………………18
3.3 機器人系統重心位置向量…………………………19
3.4 機器人連桿重心速度向量…………………………20
4   二足機器人步行的動力方程式…………………………21
4.1 系統動能計算………………………………………22
4.2 系統位能計算………………………………………23
4.3 系統動力方程式……………………………………24
4.4 單腳支撐相動力方程式……………………………24
4.5 雙腳支撐相動力方程式……………………………25
4.6 換腳模式……………………………………………28
4.7 混合動力方程式……………………………………28
第三章  零動力方程式及軌跡規劃…………………………………31
1   零動力理論簡介…………………………………………31
2   虛擬限制簡介……………………………………………33
3   零動力方程式……………………………………………34
4   Bezier曲線設計 ………………………………………40
4.1合成曲線介紹………………………………………40
4.2 Bezier曲線設定 …………………………………45
第四章　步行模式優化設計及步行程式流程………………………50
1   步行模式優化設計………………………………………50
1.1 優化函數設定………………………………………51
1.2 限制條件設定………………………………………52
2   fmincon函數 ……………………………………………54
3   ode函數 …………………………………………………56
3.1 ode函數基本用法 …………………………………56
3.2 ode函數選項 ………………………………………57
4   模擬步行程式流程 ………………………………………57
4.1 步行週期動態行為的程式流程 ……………………58
4.2 步行週期輸入力矩的程式流程 ……………………64
第五章  模擬結果 ……………………………………………………66
1   二足機器人模型參數 ……………………………………66
2   性能優化的參數設定 ……………………………………67
3   模擬結果 …………………………………………………67
3.1 模擬結果一 …………………………………………68
3.2 模擬結果二 …………………………………………72
3.3 模擬結果三 …………………………………………77
3.4 模擬結果四 …………………………………………81
3.5 模擬結果五 …………………………………………86
4   模擬結果說明 ……………………………………………90
第六章  結論與建議 …………………………………………………93
1   結論 ………………………………………………………93
2   建議………………………………………………………94
參考文獻………………………………………………………………95

                                

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