具追隨與模糊平衡控制之雙足機器人設計與實現

CCUR > College of Natural Science and Engineering > College of Engineering > Department of Mechanical Engineering > thesis > Item 987654321/51165

Please use this identifier to cite or link to this item: https://irlib.pccu.edu.tw/handle/987654321/51165

Title:	具追隨與模糊平衡控制之雙足機器人設計與實現 Design and Implementation of Biped Robot with Target Tracking and Fuzzy Balance Control
Authors:	周庭宇
Contributors:	機械工程學系數位機電碩士班
Keywords:	逆向運動學零力矩點模糊控制樹梅派 OpenCV Inverse Kinematics Zero Moment Point Fuzzy Control Raspberry Pi OpenCV
Date:	2022
Issue Date:	2023-02-23 14:47:17 (UTC+8)
Abstract:	本論文希望可以用相對便宜的價格來完成雙足機器人，本論文將會以模糊控制去控制零力矩點ZMP作為主要的平衡機器人的方法，先利用逆向運動學來計算每顆馬達的位置與狀態，並用Python的程式去呼叫Arduino模組來控制馬達，在避開障礙的方面本論文會在機器人腳掌加裝超音波感測器，藉由腳掌的感測器來確定前方是否有障礙物與及障礙物是在雙足機器人的左側還是右側，在追隨方面則是利用OpenCV與樹梅派相機模組配合來完成，最後將所有的程式放入Raspberry Pi並利用Arduino模組來控制整體雙足機器人。 This thesis is intended to complete the biped robot at a relatively cheap price. This research utilizes fuzzy control system to control the ZMP (zero moment point) as the main method of balancing the robot. Furthermore, we use the inverse kinematics to calculate the position and relationship of each motor state. Then we develop the Python program to call the Arduino modules to control the motor. In terms of avoiding obstacles, we install an ultrasonic sensor on the instep of the robot, and use the sensor on the instep of the foot to determine whether there are obstacles ahead or not. Furthermore, it can judge whether it is on the left or right side of the biped robot. After these steps, the tracking is done by using OpenCV and the Raspberry Pi camera module. Finally, all the programs are embedded into Raspberry Pi and MCU Arduino to control the overall biped robot.
Appears in Collections:	[Department of Mechanical Engineering ] thesis

Files in This Item:

File	Description	Size	Format
index.html		0Kb	HTML	196	View/Open

View Licence

Loading...