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題 名 | 四足機器人穩定行走之步態運動控制=Using Modified Wave Gait for Stable Walking Control of Quadruped Robot |
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作 者 | 彭鈞愷; 季永炤; | 書刊名 | 國立虎尾科技大學學報 |
卷 期 | 28:4 2009.12[民98.12] |
頁 次 | 頁1-15 |
分類號 | 448.94 |
關鍵詞 | 四足機器人; 步態; 穩定度; 穩定邊界值; Quadruped robot; Gait control; Stability margin; |
語 文 | 中文(Chinese) |
中文摘要 | 本文探討四足機器人增加行走時的穩定度之步態修正與控制方法。本文以一般四足機器人常用之波浪步態(Wave Gait)作爲運動分析基礎,提升波浪步態之最大步幅運動時的穩定邊界值(Stability Margin),使得四足機器人在不同速度行走時,對機體之基本伺服馬達的路徑控制參數加以修正,而能夠維持機體之穩定運行。本文首先藉由討論各種靜態步態的發展與分析來設法找到增加機體行走之穩定度的方法,藉此修正基本波浪步態運行之運動控制的參數,可使四足機器人達到穩定行走之目的。本文融合『減少抬腳時間』與『重心偏移』二種提升穩定度方法於基本波浪步態中,藉由軟體LabVIEW模擬分析機體行走之穩定度,並驗證此二種方法能夠有效的增加機體之穩定邊界值。再者本文歸納各種四足機器人之靜態步態的運行關係,利用直行步態作爲機體運行之基本步態模式,建構一『步態方程式』來描述機體以不同靜態步態運行之特性,可應用在設計四足機器人動靜態步態控制之基本系統架構。 |
英文摘要 | This paper discusses a modified gait control approach to increase the stability of the quadruped robot in different speed of walking. This paper uses the wave gaits as the fundamental gait model to analyze the motion control of the quadruped robot to improve the stability margin of quadruped robots in motion with maximum stride. The method of modification of the control parameters of the leg servo motors at different walking speed is proposed and the criteria of stable walking are discussed. Two approaches were addressed to increase the stable walking motion control of the quadruped robot. One is to reduce the time of raise legs; the other is to induce a drift on the center of gravity in the leg transition motion. Both are under the wave gait walking pattern. Software simulation proofs that these can effectively increase the stability margin of the robot. In addition, a gait equation that described the characterizations of static gaits which based on wave gait is deduced by using the generalized static gaits of quadruped walking robots. It can be incooperated into the control system structure of static/dynamic gaits controller of quadruped robots. |
本系統中英文摘要資訊取自各篇刊載內容。