被動動力設計之雙足機器人｜國立中央大學博碩士論文系統

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研究生：	莊政達 Cheng-Ta Chuang
論文名稱：	被動動力設計之雙足機器人 Design and implementation of a biped robot with passive knee joints
指導教授：	王文俊 Wen-June Wang
口試委員:
學位類別：	碩士 Master
系所名稱：	資訊電機學院 - 電機工程學系 Department of Electrical Engineering
畢業學年度：	94
語文別：	中文
論文頁數：	77
中文關鍵詞：	被動、雙足機器人、數位訊號處理器
外文關鍵詞：	digit signal processor, biped robot, passive
相關次數：	點閱：9 下載：0
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雙足機器人發展至今，不自然的機械步態依然沒有多大改變，且關節處都需要驅動器來提供動力，所以在耗能上是相當大的，若要做出更流暢的步行動作，其動作規畫與控制複雜度就越高。基於這些問題，本論文的雙足機器人，使用被動動力設計的概念，依靠重力、慣性、AI 馬達來提供動力，其膝蓋無驅動動力，僅提供可控制的電磁鎖，行走時運用馬達帶動上半身左右偏擺，配合腳踝馬達拉往側方的機制，藉此產生行走時所需的重心偏移，小腿則經由大腿連動產生的慣性向前踢出，以類似人類行走步態的方式，不需仰賴所有關節的馬達，在準確時間點做出控制，只需對必要的驅動器控制即可，對於控制和計算的複雜度可以降低，能量的消耗也能較其他類型步行機器人低。論文的雙足機器人，站立時高約90cm、重約4Kg，共有9 個自由度，以 PC-Based 為初期的開發架構，經由 RS-232 控制 AI 馬達建構行走策略，最後在以 DSP 將系統晶片化，達成獨立行走的目標，實現高效率和自然擺動的雙足機器人系統。

A biped robot has been developed for a long time and it still doesn’thave much change of the unnatural machine gait. It consumes a lot of energy because all joints are needed actuators to act. However, it will be more complicated if we want the robot to walk smoothly. For this reason, the biped robot we design uses the concept of passive dynamic walking.The knees of the robot have no actuators but only controllable latches and the robot can walk by gravity, inertial force and the AI motors. The upper body of the robot will swing when it walks forward and have COG shifted by pulling of motor on the ankle. The calf can kick out by the inertial force. It can walk like human being without motors of all joints, and we can only control the necessary actuators at the right timing to make the complication of control and calculations lower. It also consumes less energy compare to other similar robots. The robot which is 90 cm tall, 4kg weight has 9 internal degrees of freedom. At first, we use computer to develop whole system and design control strategy by controlling AI motor through RS-232. Finally, we transfer the system to DSP to let the robot stand alone and have achievement of high-efficiency with natural swing of a biped robot system.

第一章 緒論.............................................................................................. 1
1 研究背景......................................................................................... 1
2 研究動機與目的............................................................................. 3
3 文獻回顧......................................................................................... 4
4 論文架構......................................................................................... 6
第二章 機器人系統................................................................................. 7
1 簡介.................................................................................................. 7
2 機器人系統概觀............................................................................. 7
3 機器人實體機構............................................................................. 9
3.1 機器人重量............................................................................. 13
3.2 機構元件功能......................................................................... 14
4 AI 馬達.......................................................................................... 19
5 機器人控制系統........................................................................... 21
5.1 系統電源電路......................................................................... 21
5.2 馬達控制電路......................................................................... 21
5.3 電鎖控制電路......................................................................... 25
5.4 DSP 轉壓電路....................................................................... 27
5.5 RS-232 腳位功能.................................................................. 28
5.6 DSP Board............................................................................... 30
第三章 理論基礎與概念....................................................................... 31
1 簡介................................................................................................ 31
2 機器人座標系............................................................................... 31
3 機器人的自由度........................................................................... 32
4 重心................................................................................................ 35
4.1 重心對於機器人的意義........................................................ 35
4.2 重心投影於地面的位置........................................................ 37
4.3 平衡與重心............................................................................. 37
第四章 機器人步態規劃....................................................................... 38
1 簡介................................................................................................ 38
2 機構設計演進............................................................................... 38
2.1 重心偏移方面......................................................................... 40
2.2 腳底修改方面......................................................................... 43
2.3 電鎖設計方面......................................................................... 44
3 機器人的步態設計....................................................................... 46
3.1 主動與被動式機器人在步態開發上的差異性.................... 47
3.2 機器人行走時重心偏移方法................................................ 48
3.3 PC-Based 的步態開發介面.................................................. 50
3.4 鏡射關係................................................................................. 53
3.5 姿態數多和少的影響............................................................ 53
3.6 行走動作流程......................................................................... 54
4 遭遇問題與解決方法................................................................... 55
4.1 角度誤差補償......................................................................... 55
4.2 行走時晃動的影響................................................................. 56
4.3 基座問題................................................................................. 56
4.4 行走時機器人的旋轉現象.................................................... 56
第五章 實驗結果分析與討論............................................................... 57
1 簡介................................................................................................ 57
2 實驗初始條件............................................................................... 57
3 實驗一 行走動作和系統供應電流的關係.................................. 59
4 實驗二 行走動作與各個馬達所需電流的關係.......................... 61
5 實驗三 行走時馬達因機構負載造成的角度誤差...................... 65
6 機器人行走的分解動作............................................................... 66
7 機器人的展示影片....................................................................... 66
第六章 討論與結論............................................................................... 70
1 討論................................................................................................ 70
2 心得與展望................................................................................... 73
參考文獻.................................................................................................. 75

                                

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