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研究生： 林謙
Lin, Chien
論文名稱： 人型機器人於電動機車之平衡與轉向控制之應用
Balance and Steering Control of a Humanoid Robot on an Electric Scooter Application
指導教授： 包傑奇
Baltes, Jacky
口試委員： 包傑奇
Baltes, Jacky
李祖聖
Li, Tzuu-Hseng
王偉彥
Wang, Wei-Yen
口試日期： 2021/09/22
學位類別： 碩士
Master
系所名稱： 電機工程學系
Department of Electrical Engineering
論文出版年： 2021
畢業學年度： 109
語文別： 英文
論文頁數： 46
英文關鍵詞： Humanoid Robot, Two-Wheeled Vehicles, Inverse Kinematic, PID, PSO
研究方法: 比較研究
DOI URL： http://doi.org/10.6345/NTNU202101444
論文種類： 學術論文
相關次數： 點閱：127  下載：8 
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    • In recently, humanoid robots and autonomous vehicles are two famous and challenging fields. Many people focus on automation and intelligence, and desire to apply their expectations for the future to reality. From the perspective of general-purpose robots, the humanoid robots are capable of naturally operating in any real environment. That includes the humanoid robot operates the vehicles, which is an interesting challenge for the state-of-the-art in both fields.
    The contribution of this thesis is operating a two-wheeled electric scooter in reality by using large sized humanoid robot. The inverses kinematic for operating the two-wheeled electric scooter in large sized humanoid robot is applied in four different inverse kinematic method and find the optimal solution to operating the steering motion. The different inverse kinematic includes Jacobian pseudo inverse kinematic, PSO inverse kinematic, hybrid inverse kinematic using Jacobian pseudo and PSO, and the Jacobian pseudo inverse kinematic with momentum. By using hybrid inverse kinematic method, a high efficiency motion result can be obtained, and combines the low computational time of iteration method, Jacobian pseudo inverse kinematic with momentum, we successfully have a fast inverse kinematic in an efficient motion planning.
    To adapt the robot-scoot system, a 3D model for throttle and emergency brake system was developed, and implement a PID controller from physics-based simulation environments in previous work [34] to reality. Therefore, the robot-scoot system is applied fast inverse kinematic and PID controller for the balancing test. The result of steering motion is under the restrictions from our robot servo.

    Acknowledgment i Abstract ii Table of Contents iii List of Figures iv List of Tables vi List of Symbols vii Chapter 1. Introduction 1 1.1 Background and Motivation 1 1.1.1 Background 1 1.1.2 Motivation 2 1.2 Research Aim and Objectives 4 1.2.1 Research Aim 4 1.2.2 Objective 4 1.3 Structure of the Thesis 4 Chapter 2. Literature Review 5 2.1 Two-wheeled Vehicle Dynamics 5 2.2 Inverse Kinematics 7 2.3 Particle Swarm Optimization (PSO) 10 Chapter 3. Methodology 11 3.1 The Robot - THORMANG3 11 3.2 The Two-wheeled Vehicle - Gogoro scooter 12 3.3 Robot-Scooter System 14 3.4 PID Balance Controller 16 3.5 Target Position of Manipulate E-Scooter 17 3.6 Forward Kinematics 19 3.7 Jacobian Pseudo Inverse Kinematic 20 3.8 Inverse Kinematics using Adapted PSO 21 3.9 Hybrid Inverse Kinematics using Jacobian Pseudo and PSO 21 3.10 Jacobian Pseudo Inverse Kinematic with Momentum 22 Chapter 4. Experiment and Results 24 4.1 Experiment Result for Thormang3 Forward Kinematics 24 4.2 Experiment Result for Target position 25 4.3 Experiment Result for Jacobian Pseudo Inverse Kinematics 26 4.4 Experiment Result for PSO Inverse Kinematics 27 4.5 Experiment Result for Hybrid Inverse Kinematics with Jacobian Pseudo and PSO 28 4.6 Experiment Result for Jacobian Pseudo Inverse Kinematics with Momentum 30 4.7 Comparing Jacobian Pseudo IK and Jacobian Pseudo IK with Momentum 31 4.8 Evaluating Jacobian Pseudo IK with momentum to Optimal Solution from Hybrid IK 31 4.9 Comparing Sensitivity to Optimal Solution and Original Solution 35 4.10 Experiment Results in Real Robot-Scooter System 36 4.10.1 Experiment Results for Jacobian Pseudo Ik with Momentum in C++ 36 4.10.2 PID Balance Controller in Simulation Results 37 4.10.3 PID Balance Controller in Real Robot Results 39 4.10.4 Actuator’s Restrictions on Balance Control 41 Chapter 5. Conclusion and Future Work 42 5.1 Conclusion 42 5.2 Future Work 42 References 43

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