پایان نامه روشی انتخابی برای راه رفتن از بغل در روبات انسان نما

فهرست:

فصل اول : مقدمه

2

مقدمه

7

روبات­های انسان­نما

10

روبوکاپ، انگیزه­ها و اهداف

13

نرم افزارهای شبیه­سازی و مدل روبات

13

           1-4-1- شبیه­سازی

14

           1-4-2- مدل روبات

15

           1-4-3- کد پایه

18

راه رفتن روبات انسان­نما از بغل

19

اهداف

فصل دوم: مروری بر تحقیقات پیشین و روش­های به کار رفته در تحلیل حرکت روبات

21

2-1-    مقدمه

22

2-2-    تعادل روبات ونقطه گشتاور صفر

25

2-3-    حرکت­شناسی

27

          2-3-1- حرکت­شناسی مستقیم

27

          2-3-2- حرکت­شناسی معکوس

31

2-4-    استفاده از سری­های فوریه در تحلیل حرکت روبات

34

           2-4-1- بهینه­سازی پارامترهای سری فوریه به کمک الگوریتم ژنتیک

37

           2-4-2- بهینه­سازی پارامترهای سری فوریه به کمک الگوریتم ازدحام ذرات

فصل سوم: طرح پیشنهادی

42

3-1-    مقدمه

42

3-2-     روبات انسان­نمای نائو و تحلیل حرکت آن

45

3-3-     استفاده از حرکت­شناسی در راه رفتن از بغل

46

            3-3-1- حرکت­شناسی مستقیم

50

            3-3-2- حرکت­شناسی معکوس

52

3-4-     استفاده از اتوماتای یادگیر به منظور راه رفتن روبات

53

            3-4-1- روبات­های افزونه

54

            3-4-2- اتوماتاهای یادگیر

55

                       3-4-2-1- اتوماتای یادگیر با ساختار ثابت

58

                       3-4-2-2- اتوماتای یادگیر با ساختار متغیر

60

            3-4-3- روش پیشنهادی در راه رفتن روبات نائو

فصل چهارم: آزمایش­ها و نتایج

70

4-1-    مقدمه

71

4-2-    راه رفتن مستقیم

74

4-3-    راه رفتن از بغل

79

4-4      تاثیر تعداد مفاصل مورد استفاده در همگرایی سرعت و تعادل روبات

فصل پنجم: نتیجه­گیری و مطالعات آینده

85

 5-1-    جمع­بندی

86

5-2-     مطالعات آینده

فهرست منابع

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