指導教授：張帆人臺灣大學：電機工程學研究所江明勳Chiang, Ming-HsunMing-HsunChiang2014-11-282018-07-062014-11-282018-07-062014http://ntur.lib.ntu.edu.tw//handle/246246/262896建造人形機器人需要相當多的知識，舉凡機構設計、電子、軟體、以及控制工程皆為其必備學問。儘管人類已專注於此領域有數十年之久，機器人的動作仍與人類差距甚遠。為了避免機器人摔倒，時下的機器人控制多藉由分析人體動態、考量零力矩點、以及預先規劃關節軌跡來確保其穩定性。然而，這些可觀的成就背後仍有許多缺點，諸如對等效模型的重度依賴、大量的運算需求、以及可觀的能量消耗。礙於現有的雙足機器人與人體在先天結構上的差異，人類的動態量測資料對機器人行走的協助不大。 本篇針對雙足機器人之機構設計提出幾個新概念。這些新概念讓我們的機器人更適合擬人行走。受到人體骨架的啟發，我們幫機器人打造一副擬人的骨盆、一對具有Q角度的大腿、以及圓弧形的腳跟。與傳統機器人相較，擬人骨盆有助於機器人調整上半身的重心位置，從而降低對踝關節力矩的需求、也減少行進速度的劇烈變化。具有Q角度的膝關節縮短了重心到腳板間的橫向距離，因此在額狀面上有較佳的平衡。圓弧形的腳跟，將腳跟觸地時的線接觸問題簡化為點接觸問題，於是大幅減少了姿態控制的相關工作。更進一步，只要精確設計足部的機構，就能以固定擺長的倒單擺來模擬機器人的行走，如此便能省去許多有關擺長控制的問題，並降低其對數學模型依賴之程度。根據本篇提出的架構，我們的雙足機器人比傳統機器人有更擬人的步態。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.致謝 摘要 I Abstract II Contents IV List of Figures VI List of Tables IX Chapter 1 Introduction 1 1.1 Themes of Biped Robots 1 1.2 Scope of Research 3 1.3 Thesis Organization 5 Chapter 2 Human Structure and Gait Study 6 2.1 Human Structure 7 2.1.1 Dimensions and Weight Distribution 7 2.1.2 Skeleton Structures 10 2.2 Human Gait 14 2.2.1 Kinematics 14 2.2.2 Human Gait Characteristics 16 2.2.3 Joint Motion during Gait 21 2.3 Biped Locomotion Stability Criteria 22 2.3.1 Zero Motion Point (ZMP) 22 2.3.2 ZMP and Bipedal Walking 24 Chapter 3 Hardware Design 30 3.1 Anthropomorphic Structure 32 3.1.1 Pelvis 36 3.1.2 Q-Angle of the Knee 43 3.1.3 Arc-Heel 46 3.2 Elastic and Counterweight Mechanisms 48 3.2.1 Elastic Components 50 3.2.2 Counterweight Mechanisms 55 Chapter 4 Stabilization Control of a Humanoid Robot 58 4.1 Biped Walking Dynamics Modelling 58 4.1.1 Inverted Pendulum 59 4.1.2 Relation between CoG and ZMP 63 4.2 Walking Pattern Generation 66 4.2.1 Direct Drive 66 4.2.2 Discussion 84 4.2.3 Motion Gallery 88 Chapter 5 Conclusions 91 Reference 933172060 bytesapplication/pdf論文公開時間：2024/08/13論文使用權限：同意有償授權(權利金給回饋本人)擬人設計機構設計雙足機器人擬人行走thesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/262896/1/ntu-103-D94921004-1.pdf