6458

6023

كارشناسي ارشد

طراحي كاربردي

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1390

نه، 101ص.: مصور، جدول، نمودار

ص.ع. به فارسي و انگليسي

محمد جعفر صديق

عباس فتاح

27/10/90

محمد دانش، حميدرضا ميردامادي

1396/10/12

كتابنامه

مكانيك

مهندسي مكانيك

ID6023

به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي

Fuzzy based Path Planning for Biped Robots in Different Circumstances Sayed Mostafa Mohajerzadeh sm mohajerzadeh@me iut ac ir Date of Submission 2011 07 19 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language FarsiSupervisor Mohammdad Jafar Sadigh jafars@cc iut ac irAbstract Researches related to legged robot has had impressive advances in the last several decades fromanimal like to walking humanoid robots Development of biped robots that mimic the behavior of man kindis indeed a formidable task It s necessary for the robots to adopt its motion with different ground conditionand maintain its stability with suitable motion of legs and trunk In this thesis dynamic modeling dynamicstability and trajectory planning of a seven link planar biped robot walking on different circumstances arestudied The biped robot consists of seven links which represents trunk thigh shin and metatarsal Thelinks are attached together by six revolute joint two hip joints two knee joints and two ankle joints Thereis an actuator in each joint and all of the joints are only in the sagittal plane and friction less Dynamicstability of biped robot walking is dependent on good path planning Most researches of path planninggenerate hip and ankle joints trajectories because by knowing this trajectories walking path planning wouldbe completed Generation of smooth trajectories for ankle and hip joints in Cartesian space usingpolynomials with suitable order are designed such that the first and the second time derivatives arecontinuous all the time and impact effect of feet with ground is eliminated In this thesis a method of pathgeneration for biped robot at different walking conditions and circumstances is proposed A walking cyclewith ability of changing the step length has been considered for path planning of Robot motion on sagittalplane on smooth horizontal surface Each walking steps include two phases single support phase SSP anddouble support phase DSP By using this method Robot is able to walk with step changes and differenttime steps Having the kinematic constraints trajectories of hip and ankle joints are designed with twounknown coefficients hip which are to be determined to ensure dynamic stability By gathering thesecoefficients in different walking conditions and for different robots a training fuzzy system based on manexperience is used to find these coefficients in new circumstances Identification of fuzzy systemparameters is based on gradient descent method and it is done for Takagi Sugeno fuzzy system parameteradaption by using training data set Zero moment point ZMP which was first introduced by Vukobratovicis used as the stability criterion ZMP criteria can be used in both single support phase SSP and doublesupport phase DSP on smooth slope Also we use virtual ZMP on stair that is introduced based on virtualslope method Proposed method also is applied for walking on slope and stairs Finally walking on smooth up down slope and stair is simulated Simulation results show that the robot is able to walk stable indifferent circumstances Keywords Biped robot zero moment point fuzzy path generator fuzzy system identification

محمد جعفر صديق

عباس فتاح

محمد دانش، حميدرضا ميردامادي