Analysis and Control of Humanoid Robot Stability Based on Inertial Measurement

[[abstract]]仿人形機器人行走步態之重要就像人類可以行走一樣重要，機器人行走步態穩定程度關係到機器人是否到達任何想要位子，然而仿人形機器人經由步態編輯軟體可以快速編輯出機器人所需的步態，但是這一步態對機器人行走來說是好是壞，除了透過人為判斷方式或者現在有人提出使用ZMP等方式來判斷該步態對於機器人是否可以使用，哪裡需要進行修正，所以本研究主要研究行走穩定度對機器人影響程度，透過慣性感測器去偵測機器人目前狀況，判斷機器人行走擺動晃動程度，判斷擺動程度去對軌跡規劃時所加入修正補償參數進行修正，以提高機器人行走穩定度。[[abstract]]Humanoid robot walking gait is important like human Gait stability is the basic requirement of humanoid walking However Humanoid Gait editing software only provides to quickly formulate walking gait Therefore the major research focuses on humanoid stability impacted by walking gait Inertial sensors is designed evaluate to humanoid walking stability In fact the evaluation result is a region of inertial sensor signals need as the criteria to adjust for more stability walking gaits Experiment demonstration for more stability walking gaits is also include