Humanoid Robot Gait Stability Control Based on an Inertial Measurement Unit

[[abstract]]仿人形機器人的步態調整是一件很繁瑣的工作，一般在規劃完成一整組包括各關節角度軌跡後，必須不斷經由錯誤嘗試，佐以經驗法則才能微調步態使仿人形機器人可以穩定行走。這樣繁瑣工作，在不同地面必須再重新調一次，尤其是在動力現象差異很大的材質，例如由地毯變成磁磚，必須做很大的步態修正。為了解決以上問題，本研究提出以平衡控制器擔任步態微調工作。平衡控制器的設計與實現是假設仿人形機器人行走時身體維持零慣量，因此平衡控制器以零慣量作為其參考命令，經由實驗驗證在仿人形機器人已規劃一組步態時，比較有無平衡控制器的差異，實驗將包括在不同地面(地毯與磁磚)行走，以探討平衡控制器的強健性。此外，平衡控制器將嘗試在仿人形機器人沒有完整步態時，經由實驗觀察是否也能讓機器人穩定行走，以其所提出的平衡控制器不只是一個步態控制器也可以是一個步態規劃器。[[abstract]]The adjustment of humanoid walking gaits is a complex task usually the walking gait trajectories including the trajectories of all joints of the planning need to be fine tuning for stable humanoid walking the tuning procedures include try and error based on rich planner experiences However the complex task must be re-adjustment again when the humanoid robot walks on different ground surface for example from carpet to Tile To solve these problems a balance controller for fine tuning humanoid walking gait is humanoid walking in zero inertia Thus the reference command of the balance controller is zero inertia via experimental study the controller demonstrates its capacity to stabilize humanoid walking The experiments include the humanoid walking on different surface to study the robustness of the balance controller Moreover the experiments of the balance controller to control the no walking gait is not only a controller for stable but also a planner for humanoid walking gai