針對小型人形機器人，本論文設計與實現一個基於多個感測器的閉迴路平衡控制系統，主要有三個部分：(1)站立姿勢與行走步態規劃、(2)感測器回授、以及(3)閉迴路回授控制系統。在站立姿勢與行走步態規劃部分，本論文使用線性倒單擺模型來產生一個行走步態軌跡。在感測器回授部分，本論文使用壓力感測器來計算機器人的零力矩點（ZMP），以及使用陀螺儀與加速度計來估測機器人的身體傾斜角度與姿態；在閉迴路回授控制系統部分，本論文分別設計積分控制器與模糊控制器來做靜態站立的校正與動態步態的平衡。由實驗與比較結果可得知，當機器人在行走時，所提之閉迴路平衡控制系統可以讓機器人在自我平衡上有較佳的效果。此外，所提出的方法確實可以有效的控制機器人穩定行走。

In this thesis, a closed-loop feedback balance control system based on multi-sensor is designed and implemented for a small-sized humanoid robot. There are three main parts: (1) standing posture and walking trajectory planning, (2) sensor feedback, and (3) closed-loop feedback control system. In the standing posture and walking trajectory planning, a linear inverted pendulum model is used to produce a trajectory of walking gait. In the sensor feedback, a force sensor is used to calculate Zero Moment Point (ZMP) for the robot. Moreover, a gyroscope and an accelerometer are used to estimate the tilt angle of torso of robot. In the closed-loop feedback control system, an integral controller and a fuzzy controller are respectively designed to correct the static standing and balance the dynamic gait. Some experimental and comparison results are presented to illustrate that the proposed closed-loop feedback balance control system can let the small-sized humanoid robot have a better performance in the self-balancing when it walks. Moreover, the proposed method can efficiently control it to stability walk.

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 人形機器人系統規格介紹	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
 第三章 人形機器人系統模組設計	11
3.1 前言	11
3.2 感測器接受模組	12
3.3 伺服馬達控制模組	24
3.4 步態平衡控制模組	26
 第四章 站立姿勢設計與步態軌跡	28
4.1 前言	28
4.2 站立姿勢基準位置	28
4.3 二維線性倒單擺模型	30
4.4 步態軌跡規劃	32
 第五章 站立校正與步態平衡控制器	37
5.1 前言	37
5.2 站立校正	38
5.3 步態平衡	44
 第六章 實驗結果	55
6.1 腰部軌跡規劃實驗	55
6.2 站立校正實驗	57
6.3 步態平衡實驗	59
 第七章 結論與未來展望	69
7.1 結論	69
7.2 未來展望	69
 參考文獻	71
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、機器人回授系統	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	16
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、OS5000	20
圖 3.13、ITG-3200	20
圖 3.14、姿態估測系統圖	20
圖 3.15、陀螺儀與加速度計所估測的傾斜角度	21
圖 3.16、卡爾曼濾波器所估測的傾斜角度	24
圖 3.17、伺服馬達控制模組系統圖	25
圖 3.18、步態平衡控制模組	27
圖 3.19、FPGA系統模組圖	27
圖 4.1、站立座標正視圖	29
圖 4.2、站立座標側視圖	29
圖 4.3、機器人站立姿勢側視圖	29
圖 4.4、二維線性倒單擺模型	30
圖 4.5、線性倒單擺平衡	32
圖 4.6、機器人步態軌跡示意圖	32
圖 4.7、人形機器人之末端點與座標	33
圖 4.8、右腳振盪器模擬圖	34
圖 4.9、左腳振盪器模擬圖	34
圖 4.10、雙腳與腰部末端點軌跡規劃	34
圖 4.11、基於二維線性倒單擺行走軌跡示意圖	35
圖 4.12、腰部軌跡與支撐點示意圖	36
圖 5.1、步態週期示意圖：(a) 站立動作(0 or T)、(b) 質心運動(0 ~ T/2)、(c) 轉換支撐腳(T/2)、(d) 質心運動(T/2 ~ T)	38
圖 5.2、機器人前後傾斜示意圖	39
圖 5.3、人形機器人左右傾斜示意圖	39
圖 5.4、傾斜時踝關結補償示意圖	40
圖 5.5、姿態估測的校正結構圖	40
圖 5.6、y軸零力矩點誤差示意圖	41
圖 5.7、x軸零力矩點誤差示意圖	41
圖 5.8、pitch軸踝關節誤差示意圖	42
圖 5.9、零力矩點的校正結構圖	43
圖 5.10、人形機器人質心運動示意圖	44
圖 5.11、pitch軸姿態估測平衡示意圖	45
圖 5.12、roll軸姿態估測平衡示意圖	45
圖 5.13、姿態估測的平衡結構圖	46
圖 5.14、pitch軸模糊控制器輸入變數errorpitch之模糊歸屬函數	47
圖 5.15、pitch軸模糊控制器輸入變數Δerrorpitch之模糊歸屬函數	47
圖 5.16、pitch軸模糊控制器輸出變數Δrad之模糊歸屬函數	47
圖 5.17、roll軸模糊控制器輸入變數errorroll之模糊歸屬函數	48
圖 5.18、roll軸模糊控制器輸入變數Δerrorroll之模糊歸屬函數	48
圖 5.19、roll軸輸出示意圖	48
圖 5.20、零力矩點與支撐點規劃座標	49
圖 5.21、x軸零力矩點平衡控制示意圖	50
圖 5.22、x軸線性倒單擺模型平衡示意圖	51
圖 5.23、零力矩點的平衡結構圖	51
圖 5.24、x軸模糊控制器輸入變數errorx之模糊歸屬函數	52
圖 5.25、x軸模糊控制器輸入變數Δerrorx之模糊歸屬函數	52
圖 5.26、x軸輸出示意圖	52
圖 5.27、y軸模糊控制器輸入變數errory之模糊歸屬函數	53
圖 5.28、y軸模糊控制器輸入變數Δerrory之模糊歸屬函數	53
圖 5.29、y軸輸出示意圖	54
圖 6.1、腰部軌跡規劃圖(週期640ms)	56
圖 6.2、腰部軌跡規劃圖(週期960ms)	56
圖 6.3、站立校正實驗：(a)雙腳x軸ZMP、(b)雙腳y軸ZMP、(c)左腳x軸ZMP、(d)左腳y軸ZMP、(e)右腳x軸ZMP、(f)右腳y軸ZMP、(g) pitch軸角度、(h) roll軸角度	57
圖 6.4、腰部八字軌跡實驗：(a)雙腳x軸ZMP、(b)雙腳y軸ZMP、(c) pitch軸角度、(d) roll軸角度	58
圖 6.5、預設馬達參數之踏步波形圖：(a) x軸ZMP、(b) pitch軸角度	60
圖 6.6、預設馬達參數之踏步波形圖：(a) y軸ZMP、(b) roll軸角度	60
圖 6.7、人形機器人之踏步波形圖：(a) x軸ZMP、(b) pitch軸角度	61
圖 6.8、人形機器人之踏步波形圖：(a) y軸ZMP、(b) roll軸角度	62
圖 6.9、前推之踏步波形圖：(a) x軸ZMP、(b) pitch軸姿態估測	63
圖 6.10、前推之踏步波形圖：(a) y軸ZMP、(b) roll軸角度	64
圖 6.11、模糊控制前推之踏步波形圖：(a) x軸ZMP、(b) pitch軸角度	65
圖 6.12、模糊控制前推之踏步波形圖：(a) y軸ZMP、(b) roll軸角度	66
圖 6.13、模糊控制側推之踏步波形圖：(a) x軸ZMP、(b) pitch軸角度	67
圖 6.14、模糊控制側推之踏步波形圖：(a) y軸ZMP、(b) roll軸角度	68

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	26
表 5.1、pitch軸模糊控制器之模糊規則庫	47
表 5.2、roll軸模糊規則庫	49
表 5.3、x軸模糊規則庫	53
表 5.4、y軸模糊規則庫	54

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