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Student Number 943203005
Author Hong-Yan Ke(柯宏諺)
Author's Email Address No Public.
Statistics This thesis had been viewed 1811 times. Download 1012 times.
Department Mechanical Engineering
Year 2006
Semester 2
Degree Master
Type of Document Master's Thesis
Language zh-TW.Big5 Chinese
Title 二足機器人之三軸動態平衡分析
Date of Defense 2007-06-29
Page Count 63
Keyword
  • ZMP
  • Abstract The main purpose of this thesis is to design the biped robot of upper- limb. Dynamic walking for a biped walking robot to compensate for the three-axis (pitch, roll and yaw-axis) angle on an arbitrary planned ZMP by trunk motion. The governing differential equations were derived based on kinematics and dynamic equilibrium considerations. The three-axis differential equations are derived from ZMP theory. In the MSC VISUAL NASTRAN 4D simulation, the equilibrium position of the lower-limb positions were calculated first, then utilizing MSC VISUAL NASTRAN 4D and MATLAB to calculate upper-limb equilibrium position and yaw-axis angle. This procedure was repeated when the robot motion proceed.
    Table of Content 摘要.......................................................I
    Abstract..................................................II
    誌謝.....................................................III
    目次.....................................................IV
    圖目錄...................................................VI
    表目錄.....................................................X
    第一章 緒論 ...............................................1
    1.1 前言 ..................................................1
    1.2 文獻回顧 ..............................................4
    1.4 本文架構 ..............................................5
    第二章 二足機器人模型架構及運動學推導 .....................6
    2.1 二足機器人之模型假設與定義 ............................6
    2.2 順向運動學 ............................................9
    2.3 逆向運動學 ...........................................10
    第三章 ZMP與三軸軀幹補償方法之探討........................17
    3.1 零力矩點 .............................................17
    3.2 ZMP之公式推導.........................................18
    3.3 動態步行之三軸軀幹補償方法............................22
    第四章 路徑規劃與模擬結果 ................................25
    4.1模擬架構與流程.........................................25
    4.2 直線步行 .............................................27
    4.3 行進間變速............................................37
      4.3.1行進間變速(變步伐) ..............................37
      4.3.2行進間變速(變步態週期)...........................37
    4.4 上斜坡 ...............................................48
    4.5模擬結果...............................................55
    第五章 結論與未來展望 ....................................56
    參考文獻..................................................57
    附錄A.....................................................60
    Reference [1] Vukobratović, M., Frank, A., and Juričić, D., “On the Stability of Biped Locomotion”, IEEE Transactions on Bio-Medical Engineering, Vol.BME-17, No.1, pp.25-36., 1970
    [2] Yamaguchi, J., and Takanishi, A.,” Development of a Leg Part of a Humanoid Robot-Development of a Biped Walking Robot Adapting to the Humans’ Normal Living Floor”, Autonomous Robots, Vol.43, pp.69-385, 1997
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    [10] Kim, J.G., Noh, K., and Park, K., “Human-Like Dynamic Walking for a Biped Robot Using Genetic Algorithm”, ICES 2001, LNCS 2210, pp. 159-170, 2001
    [11] Jin-Geol Kim, Sang-Ho Choi, Young-Ha Choi,” Optimal Walking Trajectory Generation for a Biped Robot Using Genetic Algorithm”, Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems Vol3, pp.1456 – 1461,1999
    [12] Nirut Naksuk and C.S. George Lee, “Utilization of Movement Prioritization for Whole-Body Humanoid Robot Trajectory Generation”, Proceedings of the 2005 IEEE International Conference on Intelligent Robotics and Automation , pp.1079 – 1084, 2005
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    [15] Shuuji Kajita, Kazuo Tani,”Adaptive Gait Control of a Biped Robot based on Realtime Sensing of the Ground Profile”, Proceedings of the 1996 IEEE International Conference on Robotics and Automation Minneapolis, Minnesota-April6, pp.570-577, 1996
    [16] Hemami, H., Farnsworth, R., “Postural and gait stability of a planar five link biped by simulation”, IEEE Transactions on Automatic Control, Vol22, pp.452 – 458, 1977
    [17] Takanishi, A., Tochizawa, M., Karaki, H., and Kato, I., Dynamic Biped Walking Stabilized with Optimal Trunk and Waist Motion, IEEE/RSJ International Workshop on Intelligent Robots and Systems, pp.187-192, 1989
    [18] 邱志偉, ”二足機器人之動態平衡分析”, 碩士論文, 中央機械工程研究所,桃園,2004
    [19] 廖本煇, “二足機器人之動態步行軌跡分析”,碩士論文, 中央機械工程研究所, 桃園, 2005
    [20] 李文猶 ,“七連桿二足步行機器人BR2之製作”, 碩士論文, 國立台灣科技大學電機工程技術研究所,1995
    [21] 王興仁,”整合基因演算與模糊控制法於自走式機器人之路徑規畫”,中原大學機械工程研究所論文,2003
    [22] 鄭維崇,”應用演化類神經網路於移動式機器人巡航之究”,大同大學機械工程研究所碩士論文,1997
    [23] 陳澄峰,”二足機器人行走模式之研究”,大葉大學機械工程學系碩士班碩 士論文,2002
    [24] 鐘潤上,”五連桿二足機器人於平面步行之運動控制”,國立台灣工業技術 學院電機工程技術研究所碩士論文,1997
    Advisor
  • Chiang-Nan Chang(張江南)
  • Files
  • 943203005.pdf
  • approve immediately
    Date of Submission 2007-07-03

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