擬人化雙足機器人之設計與實作

江明勳

doi:10.6342/NTU.2014.01183

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拟人化双足机器人之设计与实作

Design and Implement of the Anthropomorphic Biped Robot

江明勳 , 博士　　导师：张帆人　　

英文 DOI： 10.6342/NTU.2014.01183

拟人设计；机构设计；双足机器人；拟人行走； Anthropomorphic design ； Mechanical design ； Biped robot ； Human-like walking ； Stretch walking

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摘要 │ 参考文献 (58) │ 国际计量

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The development of the humanoid robot requires lots of knowledge in mechanical design, electronics, software engineering and control. Despite human beings have committed to this work for several decades, motions of humanoid robots are still far from achieving the human-like walking. In order to prevent the robot from falling down, most of nowadays’ humanoid robots are controlled by analytical approaches based on human dynamics, zero-moment point considerations, and pre-calculated joint trajectories to ensure the stability. However, there still have some drawbacks, for examples, strong model dependency, high energetic and computational costs, etc. Moreover, due to the big innate structure differences between the biped robots and human beings, the kinematics of human beings in helping robot gaits is very limited.
 Some new concepts of mechanical design of a humanoid robot are proposed in this thesis. With these concepts, the robot is more suitable for human-like walking due to its new structure. Inspired by human skeleton, an anthropomorphic pelvis, a pair of Q-angle (quadriceps angle) knees and arc-heels were designed and mounted on the robot. Compared to the conventional humanoid robots, the anthropomorphic pelvis can adjust the center of gravity of the upper body by its tilt motion. Thus both the torque at the ankle joint and the velocity variations during walking are reduced. The Q-angle-knees shorten the lateral distance between the center of gravity and the feet, thus a better balance is obtained in frontal plane when single-leg supporting. The arc heel simplifies the line-contact problem to a point-contact problem when heel contact with the ground. Hence many works on posture control are reduced. Furthermore, with more precise analysis of the foot mechanism, the fixed-length inverted pendulum model can be applied in biped walking. Thus the redundant works and power consumption in length variable inverted pendulum system are decreased. Also the dependency on mathematical model is less than that of traditional biped robots. As the result of the new structure, the biped robot is able to walk much like human beings than conventional ones.

参考文献 ( 58 ) 〈TOP〉

M. Vukobratovic and B. Borovac, “Zero-moment point - thirty five years of its life,” International Journal of Humanoid Robotics, vol. 1, no. 1, pp. 157–173, 2004.
连结：
M. Vukobratovic, B. Brovac, D. Surla and D.Stokic, Biped Locomotion, New York: Springer-Verlag, 1990.
连结：
Collins S, Ruina A, Tedrake R and Wisse M, “Efficient bipedal robots based on passive-dynamic walkers,” Science, vol. 307, no. 5712, pp. 1082-1085, 2005.
连结：
W. T. Dempster, Gabel W. C. and Felts W. J. L., “The anthropometry of manual work space for the seated subjects,” American Journal of Physics and Athropometry, vol. 17, pp. 289–317, 1959.
连结：
NASA, “Man-systems integration standards,” Technical report, National Aeronautics and Space Administration, 1995.
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使用DOI作为永久连结

引用含有DOI的文献

DOI可强化引用精确性、增强学术圈连结，并给予使用者跨平台的良好使用经验，目前在全世界已有超过五千万个对象申请DOI。 如想对DOI的使用与概念有进一步了解，请参考 （ ） 。

DOI可强化引用精确性、增强学术圈连结，并给予使用者跨平台的良好使用经验，目前在全世界已有超过五千万个对象申请DOI。如想对DOI的使用与概念有进一步了解，请参考（）。