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研究生： 許顥屏
Hsu, Hao-Ping
論文名稱： 整合SAC演算法及可改變質心高度LIPM於雙足機器人上階梯步態之設計與實踐
Design and Implementation of Stair-Climbing Gait Pattern Generator for Biped Robot by Integrating SAC with Altered Height CoM LIPM
指導教授： 李祖聖
Li, Tzuu-Hseng S
學位類別： 碩士
Master
系所名稱： 電機資訊學院 - 電機工程學系
Department of Electrical Engineering
論文出版年： 2021
畢業學年度： 109
語文別： 英文
論文頁數： 71
中文關鍵詞： SAC深度加強式學習 、線性倒單擺模型 、質心高度 、雙足機器人
外文關鍵詞： SAC Deep Reinforcement Learning, Linear Inverted Pendulum Model, CoM Height, Biped Robot
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    • Abstract I Acknowledge Content III List of Figures VII List of Tables IX Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Related Works 3 1.3 Thesis Organization 5 Chapter 2 Robot Hardware and Control System 7 2.1 Introduction 7 2.2 Hardware Specification and Sensors 8 2.2.1 The Mechanism and Configuration of Robot 8 2.2.2 Motor 12 2.2.3 IMU 14 2.2.4 Pressure Sensor 15 2.2.5 Camera 16 2.2.6 Power Supply 17 2.3 Control System 18 2.3.1 Computer 19 2.3.2 U2D2 21 2.3.3 CAN 21 2.4 Summary 22 Chapter 3 Altered Height CoM LIPM Gait Pattern Generator for Biped Robot Stair Climbing 23 3.1 Introduction 23 3.2 Linear Inverted Pendulum Model 24 3.2.1 Conventional LIPM 24 3.2.2 Double-Link LIPM 28 3.2.3 Zero Moment Point 31 3.3 Inverse Kinematics of the Biped Robot 33 3.3.1 Forward Kinematics 34 3.3.2 Inverse Kinematics 37 3.4 Altered Height CoM 39 3.5 Stair-Climbing Pattern 41 3.6 Summary 42 Chapter 4 Soft Actor-Critic Based Feedback System for Stair Climbing 43 4.1 Introduction 43 4.2 Soft Actor-Critic Feedback System 45 4.2.1 Traditional Q-learning 45 4.2.2 Soft Q-learning 46 4.2.3 Soft Actor-Critic 49 4.3 Parameterized Stair-Climbing Gait Pattern Generator 51 4.4 Implementation of Soft Actor-Critic Based Feedback System for Stair Climbing 52 4.5 Summary 53 Chapter 5 Simulation and Experimental Results 54 5.1 Introduction 54 5.2 Collecting and Analyzing Sensor Data 55 5.3 Reward Defining for Soft Actor-Critic Based Feedback System 57 5.4 Training Result 58 5.5 Simulations and Experiments 58 5.5.1 Experiment 1：Stair Climbing under Various Heights 59 5.5.2 Experiment 2：Stair Climbing under Different Mass of Trunks 62 5.6 Summary 64 Chapter 6 Conclusions and Future Work 65 6.1 Conclusions 65 6.2 Future Work 66 References 68

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