| Summary: | 碩士 === 國立成功大學 === 電機工程學系 === 103 === Design of a teen-sized humanoid robot David Junior and its stable gait pattern generation are proposed in this thesis. First, the system architecture and the design concept of enhanced mechanism are introduced. Second, the Linear Inverted Pendulum Model (LIPM) theory is used for gait pattern generation. Conventional LIPM is assumed that the mass of legs should be much less than the mass of the upper body, the mass of legs is neglected to simplify the model. However, it causes the conflict between LIPM and real models of most current humanoid robots. Hence, this thesis proposes an improved LIPM, and the mass of legs can be included in the model. Therefore, the improved LIPM is more suitable for real situation and application. Third, a training process is utilized to learn a suitable pose of supporting sole, which seriously affects the stability of gait pattern, for stable walking. Finally, acceleration feedback is adopted to overcome the uncertainty factors such as uneven terrain and environment disturbance which cause unstable phenomenon. This real-time closed-loop control increases the robustness of gait pattern. Experimental results demonstrate that the walking speed of David Junior with improved LIPM can achieve 17.4cm/s, and it is 2.4 times faster than previous generation adult-sized robot. Furthermore, David Junior won the all-round championship in Adult-sized HuroCup category of 2014 FIRA RoboWorld Cup.
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