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研究生： Fahmizal
Fahmizal
論文名稱： Development of a Sensor-Based Biped Robot Locomotion Controller for Uneven Terrain
Development of a Sensor-Based Biped Robot Locomotion Controller for Uneven Terrain
指導教授： 郭重顯
Chung-Hsien Kuo
口試委員: 宋开泰
Song, Kai-Tai
苏顺丰
Shun-Feng Su
林其禹
Chyi-Yeu Lin
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： 2014
畢業學年度： 102
語文別： 英文
論文頁數： 113
中文關鍵詞： Humanoid robots 、biped locomotion controller 、fuzzy logic controller 、subsumption behavior architectures 、inertia measurement units 、center of pressure
外文關鍵詞： Humanoid robots, biped locomotion controller, fuzzy logic controller, subsumption behavior architectures, inertia measurement units, center of pressure
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    • Locomotion controller is an important and essential aspect for humanoid robots. This study develops a sensor-based locomotion controller for humanoid robots by using force sensitive resistor (FSR) and inertia measurement unit (IMU) sensors. To perform walk stability on uneven and ramp terrain conditions, FSR and IMU sensors are used as feedbacks to evaluate stability of biped robot. Moreover, linier inverted pendulum model (LIPM) is used to generate center of gravity (COG) trajectory. In this work, center of pressure (CoP) that was generated from four FSR sensors placed on each foot-pad is used to evaluate the locomotion stability of a biped robot. Furthermore, an IMU sensor is used to measure the biped body's tilt posture on slope terrain. As a consequence, FSR and IMU sensors are used to adjust the robot’s ankle, knee and hip joint’s angles that were obtained from LIPM and inverse kinematicsto maintain locomotion stability for the changes of terrain conditions. Especially, subsumption behavior architectures are proposed as analgorithmic framework to realize fuzzy logic control (FLC) based external force compliance controller with respect to CoP and posture inclinationfeedbacks. Finally, the performances of the proposed methods were verified with 18-degrees of freedom (DOF) kid-size biped robot (HuroEvolutionJR Taiwan-Tech).

    Locomotion controller is an important and essential aspect for humanoid robots. This study develops a sensor-based locomotion controller for humanoid robots by using force sensitive resistor (FSR) and inertia measurement unit (IMU) sensors. To perform walk stability on uneven and ramp terrain conditions, FSR and IMU sensors are used as feedbacks to evaluate stability of biped robot. Moreover, linier inverted pendulum model (LIPM) is used to generate center of gravity (COG) trajectory. In this work, center of pressure (CoP) that was generated from four FSR sensors placed on each foot-pad is used to evaluate the locomotion stability of a biped robot. Furthermore, an IMU sensor is used to measure the biped body's tilt posture on slope terrain. As a consequence, FSR and IMU sensors are used to adjust the robot’s ankle, knee and hip joint’s angles that were obtained from LIPM and inverse kinematicsto maintain locomotion stability for the changes of terrain conditions. Especially, subsumption behavior architectures are proposed as analgorithmic framework to realize fuzzy logic control (FLC) based external force compliance controller with respect to CoP and posture inclinationfeedbacks. Finally, the performances of the proposed methods were verified with 18-degrees of freedom (DOF) kid-size biped robot (HuroEvolutionJR Taiwan-Tech).

    ABSTRACT i ACKNOWLEDGEMENTS ii TABLE OF CONTENTS iii LIST OF TABLES vi LIST OF FIGURES vii Chapter 1 INTRODUCTION 1 1.1 Motivation and Objective 1 1.2 Methodology 3 1.3 Organization Thesis 4 Chapter 2 FUNDAMENTAL THEORY 6 2.1 Biped Locomotion Fundamentals 6 2.1.1 Gait Analysis 6 2.1.2 Stable Gaits 9 2.1.3 The 3D Inverted Pendulum Model 9 2.1.4 Kinematics of Biped Robot 12 2.2 Intelligent Control in Robotics 14 2.2.1 Fuzzy Logic Controller (FLC) 14 2.2.2 Behavior Based Robotics (BBR) 16 2.3 Sensors Filtering Technology 18 2.3.1 Low Pass Discrete Filtering 19 2.3.2 High Pass Discrete Filtering 21 2.3.3 Complementary Filtering 23 Chapter 3 DESIGN AND IMPLEMENTATION 24 3.1 Locomotion Architectures 24 3.2 Hardware Design 26 3.2.1 Mechanical Design 26 3.2.2 Electronics Design 26 3.3 Software Graphical User Interface (GUI) Design 28 3.4 FSR and CoP Position 30 3.4.1 Foot Pad Pressure Design uses FSR 30 3.4.2 Center of Pressre (CoP) Definition 35 3.4.3 Determining CoP Position 35 3.5 IMU Fusion Design to Get Pitch, Roll and Yaw 42 3.6 Body Posture Control 46 3.7 Fuzzy Logic Control Design 49 3.7.1 Fuzzy Logic on Stable Compliance Control 49 3.7.2 Fuzzy Logic on CoP Region Stability 60 3.7.3 Fuzzy logic on Posture Inclination Stability 63 3.8 Integration system using subsumption behavior based 68 Chapter 4 EXPERIMENT RESULT 70 4.1 FSR and Foot-Pad Sensors Result 70 4.2 IMU Filtering, Fusion Result 75 4.3 FSR Foot-Pad Feedback on Stable Compliance Control 82 4.4 IMU Feedback on Stability Posture Inclination 87 4.5 Walking Experiment on Uneven Terrain Results 89 Chapter 5 CONCLUSIONS AND FUTURE WORKS 93 REFERENCES 94 PROFILE 98

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