نشریه مهندسی مکانیک ایران

نشریه مهندسی مکانیک ایران

طراحی مسیر زمان حقیقی و بازیابی تعادل بهینه ربات انسان نمای سه بعدی

نوع مقاله : مقاله علمی پژوهشی

نویسندگان
1 کارشناسی ارشد، دانشکده مهندسی مکانیک، دانشگاه تربیت مدرس، تهران، ایران
2 استادیار، دانشکده مهندسی مکانیک، دانشگاه تربیت مدرس، تهران، ایران
چکیده
در این مقاله، طراحی مسیر زمان حقیقی ربات انسان نما در حضور اغتشاشات خارجی با استفاده از مؤلفه واگرای حرکت بررسی گردیده است. بدین منظور از مدل سه جرمه آونگ معکوس به جای مدل کامل دینامیکی ربات استفاده شده است. ابتدا به منظور حفظ پایداری ربات، به طراحی نقطه گشتاور صفر مطلوب پرداخته شده است. در واقع بر اساس محل گام ها، نقطه گشتاور صفر مطلوب را در مرکز کف پای ربات تعریف کرده ایم تا ربات دارای حاشیه ی پایداری مطلوبی باشد. سپس بر اساس نقطه گشتاور صفر مطلوب ایجاد شده و مدل آونگ معکوس سه جرمه، مسیر حرکتی مرکز جرم ربات به کمک روش مؤلفه واگرای حرکت که معادله دینامیکی آونگ معکوس سه جرمه را به دو معادله پایدار و ناپایدار تبدیل می کند، به دست آمده است. با بکارگیری سینماتیک معکوس، زوایای مفصلی را به عنوان ورودی موتورهای ربات محاسبه شده است. همچنین به منظور کنترل پایداری و بازیابی تعادل حرکت ربات در حضور اغتشاشات خارجی به‌صورت همزمان از تنظیم نقطه گشتاور صفر، تنظیم مکان و زمان گام برداری در قالب یک کنترلر پایداری حرکت استفاده گردیده است. به منظور صحت سنجی پایداری مسیرهای به دست آمده از محیط شبیه ساز با اعمال پارامترهای هندسی و فیزیکی یک ربات انسان نمای واقعی استفاده شده است. در نهایت براساس شبیه سازی ها نشان داده شد که ربات قابلیت راه رفتن پایدار با سرعت 6/1متر بر ثانیه در حضور اغتشاشات 345 نیوتنی را دارا می باشد.
کلیدواژه‌ها

موضوعات


[1]    M. Sadedel, A. Yousefi Koma, and F. Iranmanesh, "Heel-off and Toe-off Motions Optimization for a 2D Humanoid Robot Equipped with ActiveToe Joints (2)," Modares Mechanical Engineering, Vol. 16, No. 3, pp. 87-97, 2016, http://dorl.net/dor/20.1001.1.10275940.1395.16.3.33.0.
 
[2]    M. Sadedel, A. Yousefi-Koma, M. Khadiv, and F. Iranmanesh, "Heel-strike and Toe-off Motions Optimization for Humanoid Robots Equipped with Active Toe Joints," Robotica, Vol. 36, No. 6, pp. 925-944, 2018, doi:10.1017/S0263574718000140.
 
[3]    R. C. Luo and C. C. Chen, "Quasi-natural Humanoid Robot Walking Trajectory Generator Based on Five-mass with Angular Momentum Model," IEEE Transactions on Industrial Electronics, Vol. 65, No. 4, pp. 3355-3364, 2017, doi: 10.1109/TIE.2017.2750628.
 
[4]    Y.-F. Ho, T.-H. S. Li, P.-H. Kuo, and Y.-T. Ye, "Parameterized Gait Pattern Generator Based on Linear Inverted Pendulum Model with Natural ZMP References," The Knowledge Engineering Review, Vol. 32, 2017, doi:10.1017/S0269888916000138.
 
[5]    C.-C. Wong, S.-R. Xiao, and H. Aoyama, "Natural Walking Trajectory Generator for Humanoid Robot Based on Three-mass LIPFM," IEEE Access, Vol. 8, pp. 228151-228162, 2020, doi: 10.1109/ACCESS.2020.3046106.
 
[6]    M. Vukobratović and B. Borovac, "Zero-moment Point—Thirty Five Years of Its Life," International Journal of Humanoid Robotics, Vol. 1, No. 01, pp. 157-173, 2004, https://doi.org/10.1142/S0219843604000083.
 
[7]    A. Goswami, "Foot Rotation Indicator (FRI) Point: A New Gait Planning Tool to Evaluate Postural Stability of Biped Robots," in Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No. 99CH36288C), 1999, Vol. 1, pp. 47-52: IEEE, doi: 10.1109/ROBOT.1999.769929.
 
[8]    Z. Zhang, L. Wang, J. Liao, J. Zhao, Z. Zhou, and X. Liu, "Dynamic Stability of Bio-inspired Biped Robots for Lateral Jumping in Rugged Terrain," Applied Mathematical Modelling, Vol. 97, pp. 113-137, 2021, https://doi.org/10.1016/j.apm.2021.03.050.
 
[9]    A. Takhmar, M. Alghooneh, K. Alipour, S. Ali, and A. Moosavian, "MHS Measure for Postural Stability Monitoring and Control of Biped Robots," in 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2008, pp. 400-405: IEEE, doi: 10.1109/AIM.2008.4601694.
 
[10]  H. Hirukawa et al., "A Universal Stability Criterion of the Foot contact of Legged Robots-adios Zmp," In Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006, pp. 1976-1983: IEEE, doi: 10.1109/ROBOT.2006.1641995 .
 
[11]  W. Z. Peng, C. Mummolo, and J. H. Kim, "Stability Criteria of Balanced and Steppable Unbalanced States for Full-body Systems with Implications in Robotic and Human Gait," in 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 9789-9795: IEEE, doi: 10.1109/ICRA40945.2020.9196820.
 
[12]  A. Goswami and P. Vadakkepat, Humanoid Robotics: A reference. Springer, 2019.
 
[13]  S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa, "The 3D Linear Inverted Pendulum Mode: A Simple Modeling for a Biped Walking Pattern Generation," In Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No. 01CH37180), 2001, Vol. 1, pp. 239-246: IEEE, doi: 10.1109/IROS.2001.973365.
 
[14]  S. Kajita et al., "Biped Walking Pattern Generation by using Preview Control of Zero-moment Point," in 2003 IEEE International Conference on Robotics and Automation (Cat. No. 03CH37422), 2003, Vol. 2, pp. 1620-1626: IEEE, doi: 10.1109/ROBOT.2003.1241826.
 
[15]  A. Herdt, N. Perrin, and P.-B. Wieber, "Walking without Thinking About It," In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, pp. 190-195: IEEE, doi: 10.1109/IROS.2010.5654429.
 
[16]  M. S. Khan and R. K. Mandava, "A Review on Gait Generation of the Biped Robot on Various Terrains," Robotica, pp. 1-43, 2023, doi:10.1017/S0263574723000097.
 
[17]  C. Hu, S. Xie, L. Gao, S. Lu, and J. Li, "An Overview on Bipedal Gait Control Methods," IET Collaborative Intelligent Manufacturing, Vol. 5, No. 3, p. e12080, 2023, https://doi.org/10.1049/cim2.12080.
 
[18]  N. Ratre, S. Panigrahi, and S. Dubey, "Offline Trajectory Generation for Bipedal Robot using Linear Inverted Pendulum Model," Journal of Mechanical Materials and Mechanics Research| Volume, Vol. 6, No. 02, 2023.
 
[19]  N. Scianca, D. De Simone, L. Lanari, and G. Oriolo, "MPC for Humanoid Gait Generation: Stability and Feasibility," IEEE Transactions on Robotics, Vol. 36, No. 4, pp. 1171-1188, 2020, doi: 10.1109/TRO.2019.2958483.
 
[20]  G. Mesesan, J. Englsberger, G. Garofalo, C. Ott, and A. Albu-Schäffer, "Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control," in 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019, pp. 25-32: IEEE, doi: 10.1109/Humanoids43949.2019.9035053.
 
[21]  R. Schuller, G. Mesesan, J. Englsberger, J. Lee, and C. Ott, "Online Learning of Centroidal Angular Momentum Towards Enhancing Dcm-based Locomotion," In 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 10442-10448: IEEE,  doi: 10.1109/Humanoids43949.2019.9035053.
 
[22]  M. Shafiee, G. Romualdi, S. Dafarra, F. J. A. Chavez, and D. Pucci, "Online Dcm Trajectory Generation for Push Recovery of Torque-controlled Humanoid Robots," In 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019, pp. 671-678: IEEE, doi: 10.1109/Humanoids43949.2019.9034996.
 
[23]  N. Figueroa, J. Tafur and A. Kheddar, "Reinforcement Learning-based Parameter Optimization for Whole-body Admittance Control with IS-MPC," 2024 IEEE/SICE International Symposium on System Integration (SII), Ha Long, Vietnam, 2024, pp. 1405-1410, doi: 10.1109/SII58957.2024.10417367.
 
[24]  R. Mirjalili, A. Yousefi-Koma, F. A. Shirazi, and S. Mansouri, "Online Path Planning for SURENA III Humanoid Robot using Model Predictive Control Scheme," In 2016 4th International Conference on Robotics and Mechatronics (ICROM), 2016, pp. 416-421: IEEE, doi: 10.1109/ICRoM.2016.7886774.
 
[25]  M. Sadedel, A. Yousefi-koma, and M. Khadiv, "Offline Path Planning, Dynamic Modeling and Gait Optimization of a 2D Humanoid Robot," In 2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), 2014, pp. 131-136: IEEE, doi: 10.1109/ICRoM.2014.6990889.
 
[26]  M. Khadiv, S. A. A. Moosavian, A. Yousefi-Koma, H. Maleki, and M. Sadedel, "Online Adaptation for Humanoids Walking on Uncertain Surfaces," Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, Vol. 231, No. 4, pp. 245-258, 2017, https://doi.org/10.1177/0959651817692484.
 
[27]  J. Pratt, J. Carff, S. Drakunov, and A. Goswami, "Capture Point: A Step Toward Humanoid Push Recovery," In 2006 6th IEEE-RAS International Conference on Humanoid Robots, 2006, pp. 200-207: IEEE, doi: 10.1109/ICHR.2006.321385.
 
[28]  T. Takenaka, T. Matsumoto, and T. Yoshiike, "Real Time Motion Generation and Control for Biped Robot-1 st Report: Walking Gait Pattern Generation," in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, pp. 1084-1091: IEEE, doi: 10.1109/IROS.2009.5354662.
 
[29]  J. Englsberger, G. Mesesan, and C. Ott, "Smooth Trajectory Generation and Push-recovery Based on Divergent Component of Motion," in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, pp. 4560-4567: IEEE, doi: 10.1109/IROS.2017.8206324.
 
[30]  M. Khadiv, A. Herzog, S. A. A. Moosavian, and L. Righetti, "A Robust Walking Controller Based on Online Step Location and Duration Optimization for Bipedal Locomotion," arXiv Preprint arXiv:1704.01271, 2017, doi: 10.1109/TRO.2020.2982584.
 
[31]  H. Jeong, I. Lee, O. Sim, K. Lee, and J.-H. Oh, "A Robust Walking Controller Optimizing Step Position and Step Time That Exploit Advantages of Footed Robot," Robotics and Autonomous Systems, Vol. 113, pp. 10-22, 2019, https://doi.org/10.1016/j.robot.2018.12.003.
[32]  H. Jeong, I. Lee, J. Oh, K. K. Lee, and J.-H. Oh, "A Robust Walking Controller Based on Online Optimization of Ankle, Hip, and Stepping Strategies," IEEE Transactions on Robotics, Vol. 35, No. 6, pp. 1367-1386, 2019, doi: 10.1109/TRO.2019.2926487.
 
[33]  M. Sadedel, A. Yousefi-Koma, M. Khadiv, and M. Mahdavian, "Adding Low-cost Passive Toe Joints to the Feet Structure of SURENA III Humanoid Robot," Robotica, Vol. 35, No. 11, pp. 2099-2121, 2017, doi:10.1017/S026357471600059X.
 
[34]  K. Harada, S. Kajita, K. Kaneko, and H. Hirukawa, "An Analytical Method for Real-time Gait Planning for Humanoid Robots," International Journal of Humanoid Robotics, Vol. 3, No. 01, pp. 1-19, 2006, https://doi.org/10.1142/S0219843606000643.
 
[35]  S. Kajita, H. Hirukawa, K. Harada, and K. Yokoi, Introduction to Humanoid Robotics. Springer, 2014, https://doi.org/10.1007/978-3-642-54536-8.

  • تاریخ دریافت 18 خرداد 1401
  • تاریخ بازنگری 28 بهمن 1402
  • تاریخ پذیرش 12 اسفند 1402