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

• Main Authors: Chien-chen Hu, 胡建丞
• Other Authors: Kuo-Yang Tu
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/83912321431208749119

碩士 === 國立高雄第一科技大學 === 系統資訊與控制研究所 === 101 === 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.