Mechatronics Development and Trajectory Control of a Biped Robot

本文的主要目的在於建立雙足機器人的電路系統、訊號擷取與馬達控制，並結合機器人機構與線性倒單擺模型產生的軌跡，讓雙足機器人行走並測詴整個機電系統。機器人自行設計的電路部分，主要可分為馬達驅動模組、訊號主分流板與電源轉換分配板，分別負責控制馬達、彙整訊號以及提供機器人全身電源完成機電整合。訊號擷取控制卡是使用美商國家儀器的sbRIO-9612，並透過程式的最佳化提升此卡的運算速率，讓機器人可以在開回路(Open Loop)下控制馬達軌跡讓機器人行走，以及擷取感測器的資訊進行分析。機器人的軌跡是由線性倒單擺模型結合零矩合點(Zero-Moment Point, ZMP)的觀念所產生，再討論模擬與實驗的差異，凿含機構的缺陷、控制誤差後，用靜態步行(Static Walking)的方式讓機器人行走，並評估行走時的效益分析、ZMP 穩定度分析、質心軌跡擷取。最後，總結目前雙足機器人的機電狀況，以及未來改進的方向。The thesis focuses on the mechatronic system and trajectory control of the biped robot. The electrical system of the robot designed by the author includes motor drive units, main signal breakout board, and power board. The embedded device with analog input and DIO developed by National Instrument is utilized to detect and process all signal of the biped robot. In order to improve the efficiency of the embedded device, some optimization methods for speeding up the acquisition rate is used. The electrical system and embedded device is utilized to drive the robot with an offline control and record sensor data of the robot for analysis. The trajectories of the robot is generated by the linear inverted pendulum model (LIPM) and Zero-Moment Point(ZMP). Parameters of the trajectory are designed and discussed to realize the static walking of the robot. Next, walking efficiency, ZMP trajectories, and CG trajectory are discussed according to the recording data from experiments. Finally, a conclusion about how to improve the walking stability is drawn