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  本文選題：雙足機器人　切入點：步態(tài)規(guī)劃　出處：《吉林大學》2017年碩士論文　論文類型：學位論文

【摘要】：隨著人工智能產業(yè)化進程加快,機器人成為智能領域的一個重要研究方向。雙足機器人由于自身的獨特性和擬人性,相比其他機器人而言具有更好的環(huán)境適應能力。然而,雙足機器人是一個復雜的內在不穩(wěn)定系統(tǒng),且在運動過程中易受到外界多種干擾,因此雙足機器人步態(tài)規(guī)劃與控制研究對實現(xiàn)機器人穩(wěn)定行走具有重要的意義。本文以Aldebaran Robotics公司的雙足機器人NAO為實驗平臺研究雙足機器人的步態(tài)規(guī)劃方法。在Aldebaran官方步態(tài)系統(tǒng)分析的基礎上,采用三維線性倒立擺模型的步態(tài)規(guī)劃算法實現(xiàn)了 NAO機器人穩(wěn)定行走,并對其進一步改進,提高了機器人行走速度和動態(tài)性。論文主要研究內容如下:1、運動學分析及仿真。通過將NAO機器人簡化成連桿模型,利用運動學分析求解出各關節(jié)的正運動學方程以及腿部的逆運動學方程。并基于MATLAB軟件構建NAO機器人的運動學仿真模型。通過姿態(tài)實驗,驗證了所建立的運動學模型的準確性。2、步態(tài)規(guī)劃。基于MATLAB構建的NAO機器人運動學模型對Aldebaran官方步態(tài)系統(tǒng)進行模擬分析。根據(jù)分析得到的結論,最終選定了三維線性倒立擺模型的方法對雙足機器人NAO進行步態(tài)規(guī)劃。此外,針對傳統(tǒng)三維線性倒立擺模型步態(tài)規(guī)劃方法中存在的問題,提出了一種步態(tài)周期范圍內最大化單腳支撐階段的改進方法,最后通過平臺實驗驗證了該方法的有效性。3、平衡控制。針對機器人行走過程中存在偶爾失衡的問題,本文對模型進一步優(yōu)化,同時采用卡爾曼濾波算法對質心運動軌跡進行估計,對倒立擺參數(shù)重新矯正。實驗結果表明,與Aldebaran官方步態(tài)系統(tǒng)相比,本文采用的步態(tài)方法在動態(tài)性和抗擾性方面有較大的提高。
[Abstract]:With the acceleration of the industrialization of artificial intelligence, robot has become an important research direction in the field of intelligence. Biped robot has better adaptability to environment than other robots because of its own uniqueness and pseudo human nature. Biped robot is a complex internal unstable system, and is vulnerable to various external disturbances in the course of motion. Therefore, the research on gait planning and control of biped robot is of great significance to realize the stable walking of the robot. In this paper, the gait planning method of biped robot based on Aldebaran Robotics's biped robot NAO is studied in Aldebaran. Based on the official gait system analysis, The gait planning algorithm of three dimensional linear inverted pendulum model is used to realize the NAO robot walking stably, and further improvement is made. The main contents of this paper are as follows: 1, kinematics analysis and simulation. The NAO robot is simplified into a connecting rod model. The forward kinematics equation of each joint and the inverse kinematics equation of leg are solved by kinematics analysis. The kinematics simulation model of NAO robot is constructed based on MATLAB software. The accuracy of the kinematics model. 2, gait planning. The kinematics model of NAO robot based on MATLAB is used to simulate and analyze the official gait system of Aldebaran. Finally, the method of 3D linear inverted pendulum model is selected for gait planning of biped robot NAO. In addition, in view of the problems existing in the traditional gait planning method of 3D linear inverted pendulum model, This paper presents an improved method to maximize the support stage of one foot in the gait cycle range. Finally, the effectiveness of the method. 3, balance control is verified by platform experiments. In view of the problem of occasional imbalance in the walking process of the robot, an improved method is proposed. In this paper, the model is further optimized, and the trajectory of centroid motion is estimated by Kalman filter algorithm, and the parameters of inverted pendulum are corrected again. The experimental results show that, compared with Aldebaran official gait system, The gait method used in this paper has a great improvement in dynamic and immunity.
【學位授予單位】：吉林大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：R783.9

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