题名

人形機器人的虛擬阻抗控制與零空間動作控制

并列篇名

Virtual Impedance Control and Null Space Motion Control for Humanoid Robots

DOI

10.6342/NTU201704010

作者

侯天祐

关键词

人形機器人 ； 穩定控制器 ； 虛擬阻抗控制 ； 梯度投影法 ； 零空間動作控制 ； Humanoid Robot ； Stabilizer ； Virtual Impedance Control ； Gradient Projection Method ； Null Space Motion Control

期刊名称

國立臺灣大學機械工程學系學位論文

卷期/出版年月

2017年

学位类别

碩士
导师

黃漢邦
内容语文

英文
中文摘要

虛擬阻抗控制可以用於避障、避免自身關節角度超過最大限制以及防止自身碰撞等方面。本文結合虛擬阻抗控制與最大輸出允許集合，提出在虛擬阻抗控制架構下的平衡控制器，使人行機器人在行走時的穩定性獲得保證，同時能夠達成避障及防碰撞的功能。這種控制器透過計算最大輸出允許集合，適時改變虛擬阻抗控制的控制係數，使腳底的ZMP在行走過程中不會超出限制範圍，因而保證人形機器人不會跌倒。 另外，本文也使用梯度投影法，在虛擬阻抗控制的零空間內對有多餘自由度的人形機器人進行動作控制，透過不同成本函數使得人形機器人能夠在達成主要任務的前提下，同時滿足次要任務的需求。
英文摘要

Virtual impedance control can be used to avoid obstacles, joint limits, and self-collisions. In this thesis, we propose a stabilizer that uses virtual impedance control and maximal output admissible (MOA) sets to guarantee balance stability and execute other functions simultaneously while walking. This stabilizer ensures that the zero moment point (ZMP) does not exceed the constraints by changing the gains of virtual impedance control after computing the MOA sets so that the humanoid robot will not fall. Furthermore, we use the gradient projection method to control the motion of the humanoid robot in the null space of virtual impedance control. This enables us to execute subtasks while the main tasks are completed through different cost functions.
主题分类 工學院 > 機械工程學系
工程學 > 機械工程
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