本研究針對足式機器人相較於輪式機器人的最大優點：於非連續地形上移動，設定地形參數及擬定行走策略。首先建立一隨機分佈的參數化地形，並設定機器人形態及尺寸參數，據此建立六足機器人移動模型，其中包含斜向移動及旋轉移動的步態。此行走策略能依據地形選擇每一跨步的起點、終點及步幅。最後以程式驗證，並使用預先計算下一步有無立足點的方法以找尋較短路徑。此研究使用參數化的隨機地形，除了對地形有更詳盡的描述外，還可以依需求調整各地形參數，使足式機器人有更多的發展及應用。

This thesis sets up terrain parameters and locomotion strategies of a hexapod robot walking on variable and discontinuous terrain. Walking on this kind of terrain is the greatest advantage of legged robots compared with wheeled robots. First, establish a randomly distributed parameterized terrain. Second, set up morphological parameters and dimension parameters of the robot. Third, build kinematic model and generate continuous gaits of the robot, including crab gaits and turning gaits. The locomotion strategy can determine every AEP ,PEP and stride depending on terrain. Finally, verify the strategy through computer programming and find shorter path by calculating if foothold is available in advance. Because of applying randomly distributed parameterized terrain, in addition to describing the terrain more comprehensively, the terrain parameters can be adjusted easily according to different needs. This research will bring about more applications and developments of legged robots.

目錄 .................................................................................................................................. i
圖次 ................................................................................................................................ iii
表次 ............................................................................................................................... vii
摘要 ............................................................................................................................... viii
Abstract ............................................................................................................................ ix
第一章 緒論 .............................................................................................................. 1
1.1 六足機器人發展簡介 .................................................................................. 1
1.2 六足機器人與非連續地形 .......................................................................... 2
1.3 研究動機與重要性 ...................................................................................... 5
第二章 機器人尺寸及工作範圍設計 ...................................................................... 6
2.1 機器人足部機構設計 .................................................................................. 6
2.2 機器人單足工作範圍設計 .......................................................................... 9
2.3 機器人尺寸及形態設計 ............................................................................ 10
第三章 非連續地形之建立 .................................................................................... 12
3.1 非連續地形之分類 .................................................................................... 12
3.2 非連續地形之建立 .................................................................................... 13
3.3 非連續地形之分析 .................................................................................... 14
3.4 非連續地形之修改與比較 ........................................................................ 15
3.4.1 調整圓個數改變地形覆蓋率 ........................................................ 15
3.4.2 調整圓半徑改變可立足區域集中度 ............................................ 16
3.5 非連續地形之無因次設計參數 ................................................................ 17
第四章 機器人行走步態設計 ................................................................................ 20
4.1 機器人直行步態初步構想 ........................................................................ 20
4.2 機器人直線前進步態程式設計 ................................................................ 22
4.2.1. 機器人直線前進步態資料庫方法 ................................................ 22
4.2.2. 機器人直線前進步態結果分析 .................................................... 24
4.3 機器人旋轉步態設計 ................................................................................ 25
4.3.1. 機器人繞重心旋轉初步構想 ........................................................ 25
4.3.2. 繞機器人中心旋轉程式設計 ........................................................ 26
4.3.3. 機器人最大旋轉角度步態初步構想 ............................................ 27
4.3.4. 最大旋轉角度旋轉程式設計 ........................................................ 28
4.3.5. 繞C.G.旋轉與最大旋轉角度旋轉設計結果分析 ........................ 29
4.3.6. 繞任意點旋轉步態初步構想與程式設計 .................................... 29
4.3.7. 繞任意點旋轉設計結果分析 ........................................................ 31
4.4 機器人步態變換 ........................................................................................ 32
4.4.1 機器人步態變換初步構想 ............................................................ 32
4.4.2 機器人步態變換程式實作 ............................................................ 33
第五章 機器人行走策略 ........................................................................................ 36
5.1 機器人在非連續地形上的行走策略 ........................................................ 36
5.2 尋找立足點 ................................................................................................ 38
5.3 地形邊緣檢測 ............................................................................................ 38
5.4 機器人跨越非連續地形直線移動步態選擇法 ........................................ 40
5.5 機器人步態記錄方法 ................................................................................ 42
5.6 機器人行走策略程式實作 ........................................................................ 44
5.7 於無因次化地形之機器人行走實驗 ........................................................ 45
第六章 結果與討論 ................................................................................................ 51
Appendix ....................................................................................................................... 53
References ...................................................................................................................... 54

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