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模糊控制於四足機器人動態姿態平衡控制之研究 = A study of t...

沈金鐘

模糊控制於四足機器人動態姿態平衡控制之研究 = A study of the dynamic balance control for the quadruped robot by using the embedded fuzzy control algorithm

Record Type:	Language materials, printed : monographic
Paralel Title:	A study of the dynamic balance control for the quadruped robot by using the embedded fuzzy control algorithm
Author:	錢孟達,
Secondary Intellectual Responsibility:	沈金鐘,
Secondary Intellectual Responsibility:	季永炤,
Secondary Intellectual Responsibility:	國立虎尾科技大學
Place of Publication:	雲林縣
Published:	國立虎尾科技大學;
Year of Publication:	民96[2007]
Edition:	初版
Description:	68面圖,表 : 30公分;
Subject:	四足機器人
Subject:	balance control
Online resource:	http://140.130.12.251/ETD-db/ETD-search-c/view_etd?URN=etd-0726107-111504
Summary:	本論文在於研究使用模糊控制法則於機器人之動態平衡控制。一般四足機器人姿態平衡控制之研究，皆使用閉迴路步態並結合數個感測器回饋且透過繁複運算量為之。本研究為了減少運算量而採取直接步態控制之概念。主控制器部分使用BS2晶片，負責步態規劃與環境偵測。而平衡控制次系統將嵌入模糊控制推論於PIC晶片，次系統將利用姿態感測器回饋來保持四足機器人姿態平衡。在本研究中我們將完成兩個實驗。第一個是模擬實驗，實驗目的為證明控制器設計之正確性，實驗結果顯示控制器設計與模擬結果相同。第二個是靜態實驗，測試機器人在不同步態位置的補償效果。實驗結果顯示，模糊控制器能讓機器人在左右滾轉和前後俯仰的動作下，皆能在20度以內時保持水平姿態。本研究有效的實現模糊控制器於四足機器人平衡控制。 This research study the dynamic balance control by using fuzzy control algorithm. In general, studies of quadruped robot motion usually use close loop gait control combining with several sensors feedback through the complicated operation and the huge amount of computation while walking. This study reduces complicated operations and computation by using direct gait control. The main controller uses a BASIC Stamp 2 (BS2) chip, it is in charge of the gait planning and environment sensing feedback data processing. The fuzzy control inference embedded into PIC microcontroller is used as the balance control subsystem. It uses posture sensor feedback to keep the quadruped robot in balance.In this work, we perform the following two experiments. The first simulation experiment to address the fuzzy logic controller design is correct. The results revealed that controller design and simulation results are the same. The second experiment is static test. It is used to test the robot at different gait position if the compensation correctly maintain the body balance. Results of experiment show the fuzzy logic controller can keep the roll and pitch motion of the robot with in 20 degree from the level position. This study realize the effectiveness of the fuzzy logic controller in the balance control of a quadruped robot.

模糊控制於四足機器人動態姿態平衡控制之研究 = A study of the dynamic balance control for the quadruped robot by using the embedded fuzzy control algorithm
錢, 孟達

模糊控制於四足機器人動態姿態平衡控制之研究 = A study of the dynamic balance control for the quadruped robot by using the embedded fuzzy control algorithm / 錢孟達撰 - 初版. - 雲林縣 : 國立虎尾科技大學, 民96[2007]. - 68面 ; 圖,表 ; 30公分.
四足機器人balance control

沈, 金鐘

模糊控制於四足機器人動態姿態平衡控制之研究 = A study of the dynamic balance control for the quadruped robot by using the embedded fuzzy control algorithm
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330 $a 本論文在於研究使用模糊控制法則於機器人之動態平衡控制。一般四足機器人姿態平衡控制之研究，皆使用閉迴路步態並結合數個感測器回饋且透過繁複運算量為之。本研究為了減少運算量而採取直接步態控制之概念。主控制器部分使用BS2晶片，負責步態規劃與環境偵測。而平衡控制次系統將嵌入模糊控制推論於PIC晶片，次系統將利用姿態感測器回饋來保持四足機器人姿態平衡。在本研究中我們將完成兩個實驗。第一個是模擬實驗，實驗目的為證明控制器設計之正確性，實驗結果顯示控制器設計與模擬結果相同。第二個是靜態實驗，測試機器人在不同步態位置的補償效果。實驗結果顯示，模糊控制器能讓機器人在左右滾轉和前後俯仰的動作下，皆能在20度以內時保持水平姿態。本研究有效的實現模糊控制器於四足機器人平衡控制。 This research study the dynamic balance control by using fuzzy control algorithm. In general, studies of quadruped robot motion usually use close loop gait control combining with several sensors feedback through the complicated operation and the huge amount of computation while walking. This study reduces complicated operations and computation by using direct gait control. The main controller uses a BASIC Stamp 2 (BS2) chip, it is in charge of the gait planning and environment sensing feedback data processing. The fuzzy control inference embedded into PIC microcontroller is used as the balance control subsystem. It uses posture sensor feedback to keep the quadruped robot in balance.In this work, we perform the following two experiments. The first simulation experiment to address the fuzzy logic controller design is correct. The results revealed that controller design and simulation results are the same. The second experiment is static test. It is used to test the robot at different gait position if the compensation correctly maintain the body balance. Results of experiment show the fuzzy logic controller can keep the roll and pitch motion of the robot with in 20 degree from the level position. This study realize the effectiveness of the fuzzy logic controller in the balance control of a quadruped robot.
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