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研究生： 李昀翰
Yun-Han Lee
論文名稱： 雙足機器人站立姿態擾動平衡控制
Bipedal Robot Standing Posture Balance Control Under Disturbance
指導教授： 陳美勇
Chen, Mei-Yung
學位類別： 碩士
Master
系所名稱： 機電工程學系
Department of Mechatronic Engineering
論文出版年： 2015
畢業學年度： 103
語文別： 中文
論文頁數： 74
中文關鍵詞： 踝關節穩定策略 、髖關節穩定策略 、壓力中心 、虛擬腳指點 、虛擬模型控制 、SimMechanics
英文關鍵詞： ankle strategy, hip strategy, center of pressure, virtual toe point, virtual model control, SimMechanics
DOI URL： https://doi.org/10.6345/NTNU202205245
論文種類： 學術論文
相關次數： 點閱：558  下載：49 
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    • 本論文的主要目的為為實驗室展開中形人型機器人的研究，以期在機器人研究領域上有新的一步。
    人形機器人開發後的第一步首先要能成功站立，並可應付外界一定程度的干擾還能維持不倒，因此站立姿態擾動平衡恢復控制將為本文首要探討的運動規劃。人形機器人成功站立後，鎖定機器人膝關節，僅踝關節和髖關節可制動，由軌道能量的概念，針對外界水平向擾動後系統質心的位置和速度狀態去計算系統軌道能量，由此導出系統能量和地面壓力中心的關係，並賦予此壓力點為腳底的瞬時擷取點，當瞬時擷取點都維持在壓力中心臨界值所包圍的腳底支撐多邊形內部時則應用倒單擺系統所推展出來的踝關節穩定策略來維持機器人的恢復穩定；當超過壓力中心可能承受的臨界後，則切換到線性飛輪倒單擺所推展出來的髖關節穩定策略來導回機器人的平衡。
    踝關節和髖關節的制動扭矩由虛擬模型控制導出。針對俯仰軸面而言，上軀幹的質心僅受水平向、垂直向和俯仰軸的旋轉三個虛擬作用力，依虛擬腳指點合力矩為零的概念去推算水平向虛擬作用力，加上垂直向補償重力和關節策略下髖關節對應俯仰軸的旋轉虛擬力矩，三者即可依正向運動學概念導出各關節的相應扭矩。
    本論文應用Solidworks對機器人平台的機構做規劃與設計，以此設計好的組合件賦予材質等物理特性後，匯入matlab之simulink工具庫中所提供的SimMechanics模組，快速建立符合設計需求的虛擬實體，以此進行運動模擬可加快整個機電系統開發設計的速度與模擬可視化的直覺性。

    The thesis aims the development of the human-like robot for the lab, and hopes to set a new milestone of the research on humanoid robot.
    After developing the bipedal robot, the first step is to make robot stand up successfully and be able to fight against the disturbances to preventing falls. To this end, the balance control for fall prevention of the bipedal robot upright posture is the prime consideration of motion control. With the concept of the orbital energy, we figure out the system state of the position and the velocity to calculate the orbital energy and define it as the Instantaneous Capture Point. When the Instantaneous Capture Point stays in the support polygon under the foot, the ankle strategy derived from the linear inverted pendulum model is applied to maintain the balance of the robot. If the Instantaneous Capture Point is over the boundary of the center of pressure, it switches to the hip strategy derived from the linear inverted pendulum model plus fly wheel to get push recovery.
    The values of the ankle joint and hip joint are derived under the approach of Virtual Model Control. To the pitch axis side, the torso is applied by the virtual forces caused by the horizontal virtual force, the vertical virtual force of gravity-compensation, and the virtual torque. With the concept that the resultant torque to Virtual Toe Point is zero, it could be used to calculate the horizontal virtual force. Combine these three virtual forces, the related joint torques would be derived with the forward kinematic.
    I design the structure of the bipedal robot, define material properties to the structure by Solidworks, and transport it into SimMechanics, one of tool boxes plugged in Simulink of matlab. It shortens the time to build the virtual model for simulation and the result will be more visualized.

    摘要 ..................................................i Abstract .............................................ii 致謝 .................................................iv 目錄 ..................................................v 圖目錄 ...............................................ix 表目錄 .............................................xiii 第一章 緒論 ...........................................01 1.1前言 ..............................................01 1.2研究動機與目的 .....................................03 1.3 文獻回顧 .........................................03 1.4 本論文貢獻與架構 ..................................08 第二章 運動學 .........................................09 2.1座標轉換 ...........................................09 2.2 Denative-Hartenberg運動學表示法 ..................11 2.3機器人之運動學 ....................................13 2.3.1機器人運動模型 ..................................13 2.3.2正向運動學 ......................................14 2.3.3逆向運動學 ......................................15 2.3.4 Jacobian矩陣 ..................................16 2.3.4 VMC控制扭矩計算用之正向運動學 ....................17 第三章 雙足機器人的立姿穩定與平衡 ......................18 3.1零力矩點ZMP與姿態穩定 ..............................18 3.1.1 ZMP定義 .......................................19 3.1.2 機器人動態模型與ZMP導出 .........................19 3.2 零力矩點ZMP、虛零力矩點FZMP、壓力中心CoP ...........21 3.3 簡化模型 .........................................21 3.4 穩定策略 .........................................24 3.4.1 瞬時擷取點(Instantaneous Capture Point, ICP) ...25 3.4.2 踝關節策略 .....................................26 3.4.3 髖關節策略 .....................................27 3.5簡化模型模擬之穩定策略分析 ..........................29 3.5.1 IPM模擬之穩定策略分析 ...........................30 3.5.2 IPFM模擬之穩定策略分析 ..........................31 3.6 小結 ............................................32 第四章 穩定策略下之機器人控制 ..........................33 4.1 虛擬模型控制(Virtual Model Control) ..............33 4.2 平衡控制 .........................................35 4.2.1 ICP的計算與調整 ................................36 4.2.2 上軀幹動作的執行選擇 ............................36 4.2.3 重力補償 .......................................37 4.2.4 關節扭矩的計算 .................................38 第五章 踝髖關節策略之立姿擾動控制模擬 ...................41 5.1 SimMechanics視覺化動力模擬 .......................41 5.1.1 SimMechanics特性 ..............................42 5.1.2 Solisworks機構建立與參數取樣 ....................42 5.1.3 SimMechanics座標系統配置 .......................44 5.2 雙足機器人踝髖關節控制之站立姿擾動模擬 ..............51 5.3 小結 ............................................58 第六章 機器人機構設計與設備選擇 ........................59 6.1 設計概念 .........................................59 6.2 已開發機器人之設計回顧 ............................59 6.3 本研究之足式機器人設計構想 .........................63 6.3.1 馬達挑選 .......................................65 6.3.2 其他相關硬體 ...................................67 6.4 小結 ............................................67 第七章 結果討論與未來與展望 ............................68 7.1 模擬結果與比較 ...................................68 7.2 未來展望 ........................................68 參考文獻 ............................................70

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