系統識別號 | U0002-0909201921015600 |
---|---|
DOI | 10.6846/TKU.2019.00211 |
論文名稱(中文) | 人形機器人之即時自然行走軌跡產生器的設計與實現 |
論文名稱(英文) | Design and Implementation of Real-Time Natural Walking Trajectory Generator for Humanoid Robot |
第三語言論文名稱 | |
校院名稱 | 淡江大學 |
系所名稱(中文) | 電機工程學系博士班 |
系所名稱(英文) | Department of Electrical and Computer Engineering |
外國學位學校名稱 | |
外國學位學院名稱 | |
外國學位研究所名稱 | |
學年度 | 107 |
學期 | 2 |
出版年 | 108 |
研究生(中文) | 蕭聖儒 |
研究生(英文) | Sheng-Ru Xiao |
學號 | 805440145 |
學位類別 | 博士 |
語言別 | 繁體中文 |
第二語言別 | |
口試日期 | 2019-07-22 |
論文頁數 | 113頁 |
口試委員 |
指導教授
-
翁慶昌
委員 - 李祖聖 委員 - 郭重顯 委員 - 杜國洋 委員 - 李祖添 |
關鍵字(中) |
人形機器人 雙足行走 線性倒單擺模型 零力矩點 平衡控制 |
關鍵字(英) |
Humanoid Robot Biped Walking Linear Inverted Pendulum Model Zero Moment Point Balance Control |
第三語言關鍵字 | |
學科別分類 | |
中文摘要 |
本論文基於線性倒單擺模型提出了兩個新型模型,其可以實現雙足行走並且同時達到平衡控制。首先本論文提出一個三質心線性倒單擺飛輪模型(TLIPFM),並且建立一個如人類一般自然的行走軌跡產生器來實現人形機器人在三維空間中的雙足行走,此模型是將整體機器人的質量視為三個質量:(1) 機器人之身體上半身與雙手的質量、(2) 機器人之支撐腿的大腿質量、以及(3) 機器人之支撐腿的小腿質量,並且同時將飛輪關節放置在機器人的質量中心點以考慮角動量來構建人形機器人的動態模型,因此不僅考慮機器人質量分布,並且將角動量納入於模型之中。再來本論文提出另一個增強型三質心線性倒單擺飛輪模型(ETLIPFM),不僅建立一個行走軌跡產生器,而且也建立一個如人類一般反應的即時行走穩定器來實現人形機器人在三維空間中之行走過程的平衡控制。此模型進一步考慮質量中心點上下運動之可變高度,並且透過柔性關節與飛輪關節執行推動恢復,可根據不同之外力干擾的影響程度啟動三個推動恢復:(1) 姿態平衡、(2) 踏步平衡、以及(3) 姿態與踏步平衡,使機器人能夠抵抗外力干擾。由實驗結果可知,本論文所提出的新型模型確實可以產生更穩定的雙足行走,而且更可以有效地保持平衡來避免跌倒。 |
英文摘要 |
In this dissertation, two novel models based on the linear inverted pendulum model (LIPM) are proposed to let biped walking can be implemented and balance control can be simultaneously achieved. First, a Three-mass Linear Inverted Pendulum plus Flywheel Model (TLIPFM) is proposed and a natural walking trajectory generator such as human walking is established to achieve biped walking of the humanoid robot in three-dimensional space. TLIPFM treats the mass of the overall robot as three masses: (1) the mass of the upper body and hands of the robot, (2) the thigh mass of the robot's support leg, and (3) the calf mass of the robot's support leg. At the same time, the flywheel joint is placed in the center of mass (CoM) to consider the angular momentum to construct the dynamic model of the humanoid robot. Hence, the robot mass distribution is not only considered but also the angular momentum is incorporated into this model. On the other hand, an Enhanced Three-mass Linear Inverted Pendulum plus Flywheel Model (ETLIPFM) is proposed and not only the walking trajectory generator is established but also the real-time walking stabilizer such as human reaction is established to achieve balance control during the walking process of the humanoid robot in three-dimensional space. ETLIPFM further considers the variable height of the CoM up-and-down motion and performs push recovery through the compliant joint and the flywheel joint. There are three push recovery can be enabled to let the robot can resist external forces according to the strength of different external forces: (1) posture balance, (2) stepping balance, and (3) posture and stepping balance. Some experimental results are presented to illustrate that the proposed two novel models not only can generate more stable biped walking but also can effectively maintain its balance to avoid falling down. |
第三語言摘要 | |
論文目次 |
目錄 目錄 I 圖目錄 III 表目錄 IX 參數對照表 X 第一章 緒論 1 1.1 研究背景 1 1.2 研究動機 5 1.3 研究目的 6 1.4 論文架構 7 第二章 人形機器人 8 2.1人形機器人之硬體配置 8 2.2人形機器人之座標系 13 2.3人形機器人之控制架構 18 第三章 動態模型 21 3.1現有方法 22 3.2提出方法 31 第四章 行走軌跡產生器 42 4.1 ZMP軌跡 43 4.2 CoM軌跡 49 4.3雙足軌跡 64 4.4實驗結果 71 第五章 即時行走穩定器 80 5.1 CoM上下運動 81 5.2推動恢復 89 5.3實驗結果 96 第六章 結論與未來展望 101 6.1 結論 101 6.2 未來展望 102 參考文獻 103 研究著作 108 實務經驗 110 圖目錄 圖2.1、TKU-X機器人:(a)實體圖與(b)自由度示意圖 9 圖2.2、TKU-X機器人的機構與尺寸圖:(a)側視與(b)正視 9 圖2.3、23個自由度的示意圖:(a)頭部、(b)腰部、(c)手部、以及(d)腳部 10 圖2.4、人形機器人使用之FPGA開發板的實體圖:(a)正面與(b)反面 11 圖2.5、人形機器人使用之感測器的分布圖 12 圖2.6、人形機器人之雙腿座標系 13 圖2.7、人形機器人之雙腿座標軸的示意圖:(a)側視與(b)正視 14 圖2.8、人形機器人之雙腳座標系統 16 圖2.9、人形機器人之單腳零力矩點的示意圖:(a)側視與(b)俯視 17 圖2.10、基於動態模型TLIPFM之行走軌跡產生器的系統架構 19 圖2.11、基於動態模型ETLIPFM之行走軌跡產生器與即時行走穩定器的系統架構 20 圖3.1、LIPM的3D示意圖 23 圖3.2、建立動態模型LIPM之人類行走的側視圖 23 圖3.3、LIPFM的3D示意圖 25 圖3.4、建立動態模型LIPFM之人類行走的側視圖 26 圖3.5、DLIPM的3D示意圖 29 圖3.6、建立動態模型DLIPM之人類行走的側視圖 29 圖3.7、TLIPFM的3D示意圖 33 圖3.8、建立動態模型TLIPFM之人類行走的側視圖 34 圖3.9、ETLIPFM的3D示意圖 37 圖3.10、建立動態模型ETLIPFM之人類行走的側視圖 39 圖4.1、人類在大地上行走之關係圖 42 圖4.2、大地上行走參考之踏步位置 43 圖4.3、行走參考軌跡:(a)側視與(b)正視 44 圖4.4、支撐腳的多邊形:(a)單支撐階段與(b)雙支撐階段 45 圖4.5、雙足行走之單支撐階段與雙支撐階段 45 圖4.6、大地上雙足行走之ZMP參考:(a)固定ZMP參考與(b)移動ZMP參考 46 圖4.7、自然ZMP軌跡:(a)側視與(b)正視 47 圖4.8、完整雙足行走的自然ZMP軌跡:(a)側視與(b)正視 48 圖4.9、大地上完整雙足行走的自然ZMP軌跡示意圖 49 圖4.10、基於ZMP位置之人類向前行走的側視圖 50 圖4.11、人形機器人之CoM運動示意圖 52 圖4.12、基於單支撐階段ZMP位置之側視的CoM位置與速度軌跡: (a)向前固定之角動量與(b)前後隨機之角動量 54 圖4.13、基於單支撐階段ZMP位置之正視的CoM位置與速度軌跡: (a)向前固定之角動量與(b)前後隨機之角動量 54 圖4.14、大地上基於單支撐階段ZMP位置之完整雙足行走並涉及向前固定之角動量的CoM軌跡示意圖 55 圖4.15、大地上基於單支撐階段ZMP位置之完整雙足行走並涉及前後隨機之角動量的CoM軌跡示意圖 55 圖4.16、硬體加速設計雙曲函數之TLIPFM的CoM軌跡 58 圖4.17、硬體加速之雙曲餘弦函數 59 圖4.18、硬體加速之雙曲正弦函數 60 圖4.19、基於自然ZMP軌跡之TLIPFM的CoM軌跡:(a)側視與(b)正視 61 圖4.20、基於自然ZMP軌跡之側視的CoM位置與速度軌跡: (a)向前固定之角動量與(b)前後隨機之角動量 62 圖4.21、基於自然ZMP軌跡之正視的CoM位置與速度軌跡: (a)向前固定之角動量與(b)前後隨機之角動量 62 圖4.22、大地上基於自然ZMP軌跡之完整雙足行走並涉及向前固定之角動量的CoM軌跡示意圖 63 圖4.23、大地上基於自然ZMP軌跡之完整雙足行走並涉及前後隨機之角動量的CoM軌跡示意圖 63 圖4.24、人形機器人之雙足運動的示意圖 64 圖4.25、雙足軌跡:(a) x軸、(b) y軸與(c) z軸 66 圖4.26、完整雙足行走之x方向的雙足軌跡 67 圖4.27、完整雙足行走之y方向的雙足軌跡 67 圖4.28、完整雙足行走之z方向的雙足軌跡 68 圖4.29、行走軌跡產生器之ZMP軌跡、CoM軌跡、以及雙足軌跡 68 圖4.30、x軸方向之軌跡:(a)笛卡爾座標系與(b)雙腿座標系 70 圖4.31、y軸方向之軌跡:(a)笛卡爾座標系與(b)雙腿座標系 70 圖4.32、z軸方向之軌跡:(a)笛卡爾座標系與(b)雙腿座標系 70 圖4.33、FPGA軟體執行與加入雙曲函數硬體化計算側視的CoM軌跡: (a)兩者CoM軌跡(b)兩者CoM軌跡之間誤差 71 圖4.34、FPGA軟體執行與加入雙曲函數硬體化計算正視的CoM軌跡: (a)兩者CoM軌跡(b)兩者CoM軌跡之間誤差 72 圖4.35、測量LIPM雙足行走中ZMP回授:(a)側視與(b)正視 74 圖4.36、測量DLIPM雙足行走中ZMP回授:(a)側視與(b)正視 75 圖4.37、測量TLIPFM雙足行走中ZMP回授:(a)側視與(b)正視 75 圖4.38、測量LIPM雙足行走中之側視的CMP軌跡與ZMP回授 76 圖4.39、測量DLIPM雙足行走中之側視的CMP軌跡與ZMP回授 77 圖4.40、測量TLIPFM雙足行走中之側視的CMP軌跡與ZMP回授 77 圖4.41、人形機器人基於行走軌跡產生器之側視的雙足行走 78 圖4.42、人形機器人基於行走軌跡產生器之正視的雙足行走 79 圖5.1、基於ZMP位置之人類向前行走與可變高度的側視圖 81 圖5.2、人形機器人在可變高度狀態下之CoM運動示意圖 82 圖5.3、CoM上下運動之可變高度:(a)位置、(b)速度與(c)加速度 85 圖5.4、硬體加速設計雙曲函數之ETLIPFM的CoM軌跡 87 圖5.5、完整雙足行走的CoM高度變化:(a)側視、(b)正視、(c)俯視、以及(d)三維 88 圖5.6、人形機器人在受到較小外力干擾之姿態平衡的示意圖 90 圖5.7、腰部之傾斜角度的補償 90 圖5.8、人形機器人在受到較大外力干擾之踏步平衡的示意圖 92 圖5.9、修正新的踏點:(a)更新左腳之捕獲點與(b)更新右腳之捕獲點 92 圖5.10、基於自然ZMP軌跡之側視的CoM位置與速度軌跡: (a)外力干擾時跨出左腳與(b)外力干擾時跨出右腳 93 圖5.11、基於自然ZMP軌跡之正視的CoM位置與速度軌跡: (a)外力干擾時跨出左腳與(b)外力干擾時跨出右腳 93 圖5.12、大地上基於自然ZMP軌跡之完整雙足行走並受到較大之外力干擾跨出左腳的CoM軌跡示意圖 94 圖5.13、大地上基於自然ZMP軌跡之完整雙足行走並受到較大之外力干擾跨出右腳的CoM軌跡示意圖 94 圖5.14、較小之外力干擾-棒球從45度自由落體撞擊:(a)一般行走與(b)姿態平衡 98 圖5.15、基於較小之外力干擾啟動姿態平衡的行走過程 98 圖5.16、較大之外力干擾-棒球從90度自由落體撞擊:(a)一般行走與(b)踏步平衡 99 圖5.17、基於較大之外力干擾啟動踏步平衡的行走過程 99 圖5.18、強烈之外力干擾-壘球從90度自由落體撞擊的姿態與踏步平衡 100 圖5.19、基於較大之外力干擾啟動姿態與踏步平衡的行走過程 100 表目錄 表2.1、人形機器人所使用之三款馬達的規格表 11 表2.2、人形機器人所使用之FPGA開發板的規格表 11 表2.3、人形機器人所使用之MPU6050姿態感測器的規格表 12 表2.4、人形機器人所使用之FlexiForce感測器的規格表 12 表3.1、各個動態模型的差異與功能 21 表4.1、FPGA軟體執行與雙曲函數硬體化計算CoM軌跡之平均誤差 72 表4.2、FPGA軟體執行與雙曲函數硬體化單次執行速度 72 表4.3、人形機器人之質量分布 73 表4.4、行走軌跡產生器的絕對誤差總和 78 |
參考文獻 |
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