Compensator Design of Humanoid 3-D Walking Gait Based on Inertial Modules

[[abstract]]仿人形雙足機器人的步態調整是一件很繁瑣的事情，一般必須再配合環境，經由經驗法則調整出一個能行走的步態，但是往往因為環境的改變或是地板的摩擦因素等影響，造成機器人必須重新對其行走步態做微調。另一方面，因為機器人在行走時，其上半身重心必須有個微量的左右晃動的慣性，以幫助機器人的擺動腳在行走時能夠順利地抬起並跨出，但往往會因為這些問題使得在規劃步態時，必須花費許多時間在反覆的調整參數，所以為了解決這些問題，且讓調整者能夠更簡單快速的調整出機器人的行走步態，本研究提出步態補償以擔任微調步態的功能。步態補償的設計與實現是假設機器人行走時從側平面來看，上半身會利用慣性感測模組使其重心能夠保持在中央一固定點上，讓機器人能穩定行走，但是這必須是機器人在行走時左右擺動能夠穩定的前提下，故也將步態補償利用在機器人的前平面使它能夠在行走時維持其擺動慣性；所以利用此步態補償將會使步態規劃能夠更方便。[[abstract]]It is heavy work for the adjustment of humanoid walking gaits. Generally the adjustment needs good experience in environment consideration for stable walking gaits. However, the stable walking gaits are high sensitivity in environment conditions or ground friction. Usually, the fine turning for better stable walking gait is necessary. In addition, because the gravity of humanoid body disturbs gait stability during walking, how to reject the disturbance based on gait planning for stable walking is one of the other issues. The parameters of gaits need to be adjusted again and again to reject disturbance for stable walking. To solve these problems, in this thesis the compensator for automatic gravity adjustment is proposed for better and stable humanoid walking gaits.The walking gait compensators are designed and implemented on sagittal and front plans, respectively. Assume that the gravity of humanoid body move along two straight lines on sagittal and front plane, respectively. To reserve the humanoid robot in stable walking, the compensators adjust join angles according to inertial sensor module installed in its body. The walking compensators make the adjustment of humanoid gaits easy and simple. Finally, practical experiments to demonstrate the compensators for better and stable humanoid walking gaits are also included