人形機器人於電動機車之平衡與轉向控制 Balance and Steering Control of a Humanoid Robot on an Electric Scooter

dc.contributor 包傑奇 zh_TW
dc.contributor Jacky Baltes en_US
dc.contributor.author 周毅安 zh_TW
dc.contributor.author Guilherme Christmann en_US
dc.date.accessioned 2022-06-08T02:37:01Z
dc.date.available 2022-01-31
dc.date.available 2022-06-08T02:37:01Z
dc.date.issued 2021
dc.description.abstract none zh_TW
dc.description.abstract Autonomous vehicles and (humanoid) robotics are two fields that have greatly benefited from the rapid pace of development of deep learning systems. With intricate systems, it is possible to perform complex tasks and behaviors directly from raw sensor data. In light of recent developments in the aforementioned fields, it is necessary to start making efforts towards challenges that lie on their junction. From the perspective of humanoid robots, if we want to reach truly general-purpose robots it is of importance that they are capable of operating in any human environment. That includes the operation of vehicles, which we believe pose an interesting challenge for the state-of-the-art in both fields. This work focuses on the control and operation of a two-wheeled scooter using a large sized humanoid robot. A 3D model of the robot and scooter system was developed using CAD software, as well as physics based simulation environments. The subject of this study was the development of a steering-based control system. Two controllers were developed, analyzed and compared: a PID controller and a reinforcement learning control. Both controls were able to balance and track trajectories, and both performed better under different conditions. Advantages and limitations of applying these controllers to the real robot are also discussed. en_US
dc.description.sponsorship 電機工程學系 zh_TW
dc.identifier 60775056H-38044
dc.identifier.uri https://etds.lib.ntnu.edu.tw/thesis/detail/40bcc987d555a1b050b93493500efa31/
dc.identifier.uri http://rportal.lib.ntnu.edu.tw/handle/20.500.12235/116953
dc.language 英文
dc.subject none zh_TW
dc.subject Humanoid Robotics en_US
dc.subject Classical Control en_US
dc.title 人形機器人於電動機車之平衡與轉向控制 zh_TW
dc.title Balance and Steering Control of a Humanoid Robot on an Electric Scooter en_US
dc.type 學術論文
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