研究生: |
虞宏祥 Hong-Xiang Yu |
---|---|
論文名稱: |
點接觸二足機器人在二維週期行走速度變化之研究 Research of 2D Periodically Walking of Variable Speed in Point Feet 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 none 何昭慶 none |
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: | 2010 |
畢業學年度: | 98 |
語文別: | 中文 |
論文頁數: | 66 |
中文關鍵詞: | 二足機器人 、速度變化 、點接觸 |
外文關鍵詞: | Bipedal Robot, variable speed, point feet |
相關次數: | 點閱:166 下載:5 |
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本論文進行二足機器人於平面的動態週期步行速度改變的分析與實驗。由於機器人機構上的設計沒有加入身軀的考量,且在雙腿的長度盡量接近人類比例。在週期步行之中,可以將行走運動分為單腳支撐與雙腳支撐兩個週期交互運作,混合單腳與雙腳週期進行運動,在輸出之前還需要再加入平衡回授計算,藉以消除機構設計上的誤差或是零件之間可能發生的間隙變化,在行走之前的閉迴路機構校正也是必須要執行的,最後實驗動態行走速度的調整對於平衡方面的影響變化行為。
This thesis studies on the analysis and experiment of a bipedal robot that can dynamics walk with variable speed periodically. Due to the robot is designed without hip; the leg length would be closed to human size. According to walk periodically, the behavior could define to single support and double support phase which process alternate each other. After it mixed sport of single support and double support phase, it can use feedback calculation for balancing before the controller output to the motor of the joint. It will cancel design tolerance or the variously gap between joint parts. Before the robot walk, calibrating joints in close loop control is necessary. The experiment will check dynamic walking with various speeds on balance behavior.
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