雙足步行機器人於未知斜面之姿態控制設計

Abstract

本論文之目的為設計一雙足機器人之步態控制器，使其於步行中遇到地面坡度改變時能即時進行姿態補償控制，以避免傾倒。本設計藉由安裝於機器人之陀螺儀與加速規取得上半身姿態資訊，使雙足機器人得以在變化的坡度地形，產生適當的姿態調整動作以完成平衡步行。本論文以Central Pattern Generator(CPG)為主要理論基礎來設計機器人行走時的完整步態軌跡。在平衡行走系統設計上，本論文發展出一套補償控制器演算法，在雙足步行中藉由機器人上半身姿態的感測值，判斷地形坡度與上半身姿態兩者關係，即時產生對機器人上半身姿態調整之補償動作。此補償動作分為預測補償(Predictive Compensation)和即時補償(Immediate Compensation)，兩種控制法則結合使用，使機器人得以克服斜坡變化順利完成連續步行。本論文以雙足機器人NAO進行模擬和實驗，驗證所提出之平衡行走系統的可行性。經過模擬與實驗驗證，此系統可達成雙足機器人於未知斜面間進行平穩的行走。

The objective of this study is to design a walking pattern generator and a balance control system such that a bipedal robot can handle an unknown slope in bipedal walking. The robot uses onboard gyro and accelerometer sensors to detect the pose information of upper-body. A controller is proposed for the robot to walk on unknown slope with suitable adjustment of the tilt angle of the upper-body pose. The theory of central pattern generator(CPG) is applied to generate the walking trajectory. By the pose information of upper-body, we develop a method to determine the relationship of the slope of the terrain and the upper-body posture and generate the compensation motion to adjust the tilt angle of the upper-body. The compensation control consists of the predictive compensation and the immediate compensation. The integrated controller adapts to the unknown slope while robot walking. Using the bipedal robot NAO, the simulation and the experimental results show that the biped robot can walk successfully on unknown slopes.