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    Please use this identifier to cite or link to this item: http://ccur.lib.ccu.edu.tw/handle/A095B0000Q/359


    Title: 連桿結構開發輕量化類人機器人雙足於RoboCup;Development of a lightweight biped adult-size humanoid robot with connecting lever structure in RoboCup
    Authors: 林奕尊;LIN, YI-TSUN
    Contributors: 電機工程研究所
    Keywords: 雙足機器人;輕量化機器人;大型人形機器人;連桿;Biped;Light Weight Humanoid Robot;Adult-size;Connecting lever (Connecting Rod)
    Date: 2017
    Issue Date: 2019-07-17
    Publisher: 電機工程研究所
    Abstract: 關於機器人的研究,在近幾年中是相當熱門的議題之一,尤其是大型類人機器人這塊領域。如何使大類人型機器人在外型或身體結構上與人類更相近,或是能作出更相似的動作,一直是主要的研究的方向。然而進行大型類人機器人的運動學或演算法開發,往往必須先投入大量的硬體成本,導致許多開發者僅能以模擬方式進行開發,而無法進行實體研究。吾人計畫建造成人尺寸類人型機器人之雙足(約 90公分高),並利用輕量化的連桿結構仿造人類雙足上肌肉,用來提供雙腳運動時的能量,大部分的重量(馬達、齒輪)將集中在機器人的臀部、腰部位置。如同人類的核心肌群,人類利用核心肌群來支撐上半身、保持身體穩定、驅動雙腿,並減經下肢的負擔,因此並不需要過於強壯或笨重的四肢。我們將得到輕量化的四肢以及較好控制重心的重量配置,這使我們能減少馬達的數量以及使用較低成本的伺服馬達,來完成大型類人機器人雙足的建製。根據本研究的實驗結果,此大型類人機器人總重約10公斤,擁有12個關節自由度(DOF),只需要10顆60 kgw-cm以及2顆40 kgw-cm 之直流伺服馬達,最終使機器人完成向前步行的動作。
    Recently, the humanoid robot is a popular research topic in robotics. Especially, how to make the robot more like a human being not only behavior but also body structures always has been the main researching direction of all developers.However, before they start to research the kinematics and algorithm. Developers have to invest a huge amount of money in order to build the hardware. It leads to most developers without resources, can only work in simulation, not the real one.In this project, we are going to build the legs of the adult-size humanoid robot (About 90cm height). In our design, the legs use a connecting lever structure that works similarly to the human muscle to deliver the energy. In order to design the lightweight legs and feet, we also set up most of the heavy items compress around the hip part. The heavy hip approximate to human’s core muscle group, it can be used to support upper-body, keep balancing, drive the legs and reduce the load of the lower limbs. Therefore, our robot doesn’t need to have strong or heavy limbs and is more like a human. Eventually, we design and build the robot with lightweight legs and easy control center of mass. This helps us to reduce the strength of the servo motor and use low-cost servo motor only. We built humanoid robot legs around 10 kg with 12 degrees of freedom. It only requires ten 60 kgf-cm and two 40 kgf-cm servo motors. Finally, the robot can finish the walking motion forward.
    Appears in Collections:[電機工程研究所] 學位論文

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