本文主要目的為模仿螃蟹橫行方式，測試機器人橫行步行與攀爬的可行性，以提供六足機器人橫向行走的移動方式。
　　本研究參考真實螃蟹比例，製作出一含12個致動器之橫行六足機器人。使用順向與逆向運動學的方法設定足端點位置，並配合直線補間的方式達成水平跨步動作。在步行實驗中，使用三角步態、異相步態與對稱步態測試橫向直行動作，並觀測其負載現象。在攀爬實驗中，使用六足同步推進的方式，模仿螃蟹以不打滑的方式攀爬，並使用力回饋控制方式做實驗。
　　步行實驗結果發現，擺盪式三角步態之負載較一般式三角步態穩定，而對稱步態的負載較異相步態穩定。在攀爬實驗中，橫行的方式可達成攀爬於斜坡、平地到斜坡、上坡到平地、垂直壁面與倒掛攀爬等地形。
本研究的機器人橫行方式，可運用在大部分六足機器人，而力回饋攀爬方式，在視線不佳的環境仍能繼續工作，達成任務，對於機器人在特殊環境或救援行動上，有很大的幫助。

The purpose of this research is to imitate the motion of the crab, and to propose a new control strategy for hexapod robots. Referring to the proportion of a real crab, we construct a 12- actuator hexapod robot. Walking experiments are achieved by using a tripod gait, a metachronal gait and a paired metachronal gait. We observe the loading of actuators and compare the functionality of the gaits. A special feed-forward gait and the Zero Torque control strategy are added in the climbing experiment. A compressed rubber-wire carpet and wire dactyl claws are used to simulate the non-slip climbing condition. Our experiment results show that the loading condition of the pendulous tripod gait is better than conventional tripod gait, and the paired metachronal gait is better than metachronal gait. During climbing experiments, our robot walks on a vertical, an upside-down, and two transitional terrains.

目錄
目錄 I
圖目錄 III
表目錄 VI
摘要 VII
Abstract VIII
第一章 緒論 1
1.1研究動機 1
1.2文獻回顧 4
1.3本文基本架構 5
第二章 簡化制動器之六足仿生蟹形機器人設計 7
2.1. 硬體設備 7
2.1.1致動器介紹 7
2.1.2致動器讀值測試 10
2.2. 形態設計 13
2.2.1 螃蟹形態 13
2.2.2 仿生機器蟹之形態設計 16
2.3 足部模組 19
2.3.1 致動器配置 19
2.3.3 足部馬達負載分析 23
2.3.4 理論值與實際值測試 25
2.4 基本理論 27
2.4.1 靜態穩定與步行相關名詞 27
2.4.2 六足機器人步態一般模型 29
2.5 本章小結 32
第三章　橫行步態控制 34
3.1 姿態設定 34
3.2 直線行走步態 35
3.2.1 三角步態 35
3.2.1.1 擺盪式三角步態 36
3.2.1.2 一般式三角步態 43
3.2.2 對稱步態與異相步態 46
3.3自轉步態 54
3.4本章小節 56
第四章　橫行攀爬實驗 58
4.1螃蟹攀爬足不打滑設計 59
4.2斜坡攀爬 60
4.2.1對稱步態爬坡測試 61
4.2.2六足同步支撐半擺盪爬坡 64
4.2.3六足同步支撐2 67
4.3 行走於坡度變化 69
4.3.1 正角度變化-β=30° 70
4.3.2 正角度變化-β=50° 72
4.3.3 負角度變化 74
4.4 垂直攀爬 76
4.4.1 控制流程與結果 78
4.5 倒掛攀爬 80
4.5.1 控制流程與結果 81
4.6本章小結 82
第五章 結論與建議 84
參考文獻 87

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