針對小型人形機器人，本論文設計與實現一個外力干擾回復平衡控制，主要有三個部分：(1)外力偵測、(2)跨步平衡踏點估算、以及(3)跨步平衡步態設計。在外力偵測部分，使用加速度計與陀螺儀來偵測目前機器人是否受到外力干擾。在跨步平衡踏點估算部分，借由機器人受到的外力干擾，以線性倒單擺飛輪模型來估算能夠保持平衡不跌倒的跨步策略與跨步距離；在跨步平衡步態設計部分，利用中樞型態產生器(Central Pattern Generator, CPG)以正弦函數震盪器的方式來設計與規劃跨步平衡的步態軌跡。由實驗結果可得知，當人形機器人在受到外力干擾時，所提出之外力干擾回復平衡控制可以讓機器人能夠跨出步伐並保持平衡，因此所提出的方法確實可以有效的避免機器人跌倒。

In this thesis, a push and recovery balance control is designed and implemented for small-sized humanoid robot. There are three main parts: (1) push detection, (2) calculate capture point for stepping balance, and (3) gait design for stepping balance. In the push detection, an accelerometer and a gyroscope are used to detect weather the robot is been pushed by external forces. In the capture point calculate for stepping balance, a linear inverted pendulum with flywheel model is used to calculate the capture point when the robot is been pushed by external forces. In the gait design for stepping balance, a Central Pattern Generator (CPG) is used to design and plan a gait for stepping balance with simplified sine oscillator. As the result of the experiment, the robot is able to step to the capture point and maintain balance when it is been pushed by external forces. Therefore, the proposed method can efficiently prevent the robot falling.

目錄
目錄………………………………………………………...I 
圖目錄	IV
表目錄	VIII
第一章 緒論	1
1.1	研究背景	1
1.2	研究目的	2
1.3	論文架構	3
第二章 人形機器人平台介紹	4
2.1	前言	4
2.2	人形機器人機構介紹	5
2.3	人形機器人核心控制板規格介紹	9
2.3.1	IPC工業電腦	9
2.3.2	FPGA開發板	10
第三章 人形機器人系統模組設計	11
3.1	前言	11
3.2	感測器接收模組	13
3.2.1	腳底壓力感測器	13
3.2.2	姿態估測	19
3.3	伺服馬達控制模組	20
3.4	外力干擾回復平衡控制模組	22
第四章 外力干擾回復平衡控制設計	24
4.1	前言	24
4.2	外力干擾回復平衡控制架構圖	24
4.3	外力偵測	25
4.4	跨步平衡策略	26
4.4.1	前後平衡	26
4.4.2	左右平衡	27
4.5	平衡踏點計算	29
4.5.1	二維線性倒單擺模型	30
4.5.2	二維線性倒單擺飛輪模型	31
4.6	跨步軌跡規劃	34
4.6.1	前後跨步平衡	34
4.6.2	左右橫移跨步平衡	40
4.7	逆運動學	44
第五章 實驗結果	46
5.1	平台介紹與測試力計算	46
5.2	前後跨步平衡實驗	48
5.3	左右橫移平衡實驗	57
第六章 結論與未來展望	66
6.1	結論	66
6.2	未來展望	66
參考文獻	67




 
圖目錄
圖2.1、第九代人形機器人：(a)實體圖與(b)機器人維度圖	5
圖2.2、人形機器人機構設計與尺寸圖	6
圖2.3、自由度設計圖：(a)頭部、(b)腰部、(c)手部、(d)腳部	7
圖2.4、腳部結構長度	8
圖2.5、工業電腦實體圖	9
圖2.6、FPGA開發板實體圖：(a)正面和(b)反面	10
圖3.1、機器人系統模組圖………………………………………………....12
圖3.2、簡易系統架構圖	13
圖3.3、壓力感測器應用於零力矩點	14
圖3.4、腳底壓力感測器系統圖	14
圖3.5、FlexiForce A301	15
圖3.6、MSP430G2553	15
圖3.7、腳底壓力感測器電路板	15
圖3.8、腳底緩衝與防滑裝置實體圖	16
圖3.9、壓力感測器校正示意圖	17
圖3.10、機器人雙足座標系示意圖	18
圖3.11、機器人單足座標系示意圖	19
圖3.12、GY-87	19
圖3.13、姿態估測系統圖	20
圖3.14、伺服馬達控制模組系統圖	21
圖3.15、外力干擾回復平衡控制模組	23
圖3.16、FPGA系統模組圖	23
圖4.1、外力干擾回復平衡控制架構圖……………………………………24
圖4.2、人形機器人座標示意圖	25
圖4.3、外力偵測示意圖	26
圖4.4、向後平衡示意圖	27
圖4.5、向前平衡示意圖	27
圖4.6、左右旋轉自由度示意圖	27
圖4.7、前後傾斜自由度示意圖	27
圖4.8、受到外力干擾前後比較示意圖	28
圖4.9、左右平衡過程示意圖	29
圖4.10、二維線性倒單擺模型	30
圖4.11、二維線性倒單擺飛輪模型	31
圖4.12、線性倒單擺式動量示意圖	33
圖4.13、人型機器人之座標	35
圖4.14、人形機器人前後平衡跨步軌跡	39
圖4.15、人形機器人左右跨步平衡軌跡	43
圖4.16、機器人雙足座標軸示意圖(a)正視圖(b)側視圖	44
圖5.1、實驗平台圖……………………………………………………..…...46
圖5.2、45度測試示意圖	46
圖5.3、機器人站立姿勢側視圖	48
圖5.4、棒球以45度由後方撞擊機器人之pitch軸與x軸ZMP	49
圖5.5、壘球以45度由後方撞擊機器人之pitch軸與x軸ZMP	50
圖5.6、兒籃以45度由後方撞擊機器人之pitch軸與x軸ZMP	50
圖5.7、排球以45度由後方撞擊機器人之pitch軸與x軸ZMP	51
圖5.8、棒球以90度由後方撞擊機器人之pitch軸與x軸ZMP	51
圖5.9、壘球以90度由後方撞擊機器人之pitch軸與x軸ZMP	52
圖5.10、兒籃以90度由後方撞擊機器人之pitch軸與x軸ZMP	52
圖5.11、棒球以45度由前方撞擊機器人之pitch軸與x軸ZMP	54
圖5.12、壘球以45度由前方撞擊機器人之pitch軸與x軸ZMP	54
圖5.13、兒籃以45度由前方撞擊機器人之pitch軸與x軸ZMP	55
圖5.14、排球以45度由前方撞擊機器人之pitch軸與x軸ZMP	55
圖5.15、棒球以90度由前方撞擊機器人之pitch軸與x軸ZMP	56
圖5.16、壘球以90度由前方撞擊機器人之pitch軸與x軸ZMP	56
圖5.17、兒籃以90度由前方撞擊機器人之pitch軸與x軸ZMP	57
圖5.18、棒球以45度由左方撞擊機器人之row軸與y軸ZMP	58
圖5.19、壘球以45度由左方撞擊機器人之row軸與y軸ZMP	59
圖5.20、兒籃以45度由左方撞擊機器人之row軸與y軸ZMP	59
圖5.21、排球以45度由左方撞擊機器人之row軸與y軸ZMP	60
圖5.22、棒球以90度由左方撞擊機器人之row軸與y軸ZMP	60
圖5.23、壘球以90度由左方撞擊機器人之row軸與y軸ZMP	61
圖5.24、兒籃以90度由左方撞擊機器人之row軸與y軸ZMP	61
圖5.25、棒球以45度由右方撞擊機器人之row軸與y軸ZMP	62
圖5.26、壘球以45度由右方撞擊機器人之row軸與y軸ZMP	63
圖5.27、兒籃以45度由右方撞擊機器人之row軸與y軸ZMP	63
圖5.28、排球以45度由右方撞擊機器人之row軸與y軸ZMP	64
圖5.29、棒球以90度由右方撞擊機器人之row軸與y軸ZMP	64
圖5.30、壘球以90度由右方撞擊機器人之row軸與y軸ZMP	65
圖5.31、兒籃以90度由右方撞擊機器人之row軸與y軸ZMP	65
 
表目錄
表2.1、馬達規格	8
表2.2、工業電腦規格	9
表2.3、FPGA開發板之系統規格	10
表3.1、MX-64伺服馬達控制表……………………………………………22
表4.1、向後跨步平衡之右腳振盪器參數表………………………………37
表4.2、向後跨步平衡之右腳參數値	37
表4.3、向後跨步平衡之左腳振盪器參數表	38
表4.4、向後跨步平衡之左腳參數値	38
表4.5、向前跨步平衡之右腳振盪器參數表	38
表4.6、向前跨步平衡之右腳參數値	38
表4.7、向前跨步平衡之左腳振盪器參數表	38
表4.8、向前跨步平衡之左腳參數値	38
表4.9、向右橫移跨步平衡之右腳振盪器參數表	41
表4.10、向右橫移跨步平衡之右腳參數値	41
表4.11、向右橫移跨步平衡之左腳振盪器參數表	41
表4.12、向右橫移跨步平衡之左腳參數値	41
表4.13、向左橫移跨步平衡之右腳振盪器參數表	42
表4.14、向左橫移跨步平衡之右腳參數値	42
表4.15、向左橫移平衡之左腳振盪器參數表	42
表4.16、向左橫移跨步平衡之左腳參數値	42
表5.1、測試用球類比較表………………………………………………….47

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