輪腳雙模式運動平台之研發

Design of a Leg-Wheel Hybrid Mobile Platform

沈宣諭(Shuan-Yu Shen)

指導教授 ： 林沛群

國立臺灣大學/工學院/機械工程學研究所/碩士(2009年)

https://doi.org/10.6342/NTU.2009.01665

摘要

本論文主要探討一種新型的輪腳混合運動平台(leg-wheel hybrid platform，並命名為Quattroped)之研發，該平台同時具有輪型平台以及足式平台的功能，使其在平地時可如同一般四輪驅動車輛以四輪模式行進，發揮輪型載具快速省能的運動特性。而在面臨如自然環境、障礙物、或階梯等崎嶇地貌時則可切換至四足模式，藉由較高自由度肢足間之協調以穿越障礙地形。相較於其他輪腳混合平台同時具有輪以及足兩套機構，此平台研發一項獨特的輪腳變形機構，透過對輪腳部分幾何形狀之主動控制，來進行輪子(一個全圓外框)與兩自由度的腳(兩個半圓形的腳)之切換，使平台同時具有四輪以及四足的驅動模式。本論文針對完成建構平台所需的各個部份進行介紹，包括了平與輪腳機構的概念設計到實體設計、機電系統、軟體架構、與系統整合，並針對輪與腳雙模式運作進行初期的實驗驗證。

關鍵字

輪腳混合平台 ； 四輪車 ； 四足機器人 ； 半圓形腳 ； 仿生機器人

並列摘要

This thesis is focused on the development of a novel leg-wheel hybrid mobile platform named "Quattroped". The platform is capable of moving like a wheeled platform as well as a legged one.In the wheel mode, the locomotion behavior of this platform is similar to that of a normal 4-wheel-driven vehicle which can run fast and efficiently on the flat terrain. In contrast, the legged mode is superior in crossing various uneven terrains (such as rough ground, obstacles, stair, and etc) via coordination of four high degree-of-freedom (DOF) legs. Comparing to most hybrid platforms which have separate mechanisms of wheels and legs, this robot is implemented with a transformation mechanism which directly changes the morphology of wheels (i.e. a full circle) into two DOF legs (i.e. combining two half-circles as a leg). Various aspects of details required to construct the platform are introduced, including conceptual design, mechanism design, mechatronics, software infrastructure, and system integration. In addition, some experiment results are also reported to verify the validity of design of this platform.

並列關鍵字

Leg-wheel hybrid ； Mobile platform ； Four wheels ； quadruped ； half-circles leg

參考文獻

[1] F. Michaud and S. Caron, “Multi-modal locomotion robotic platform using leg-track-wheel articulations,” Autonomous Robots, 2005, pp. 137–156.

[2] G. Endo and S. Hirose, “Study on roller-walker,” in IEEE International Conference on Robotics and Automation, vol. 1,1999, pp. 2032–237.

[4] C. Grand, F. Benamar, F. Plumet, and P. Bidaud, “Stability and traction optimization of a reconfigurable wheel-legged robot,” The International Journal of Robotics Research, pp. 1041–1058, 2004.

[9] Y. Ichikawa, N. Ozaki, Sadakane K., “A hybrid locomotion vehicle for nuclear power plants”, IEEE Trans. On Systems, Man & Cybernetics SMC- 13(6), 1983, pp. 1089-1093.

[10] N. Kimura, “Disaster-preventing robot at petroleum production facilities”, in Proc. 5th Int. Conf. on Advanced Robotics (ICAR), 1991, vol. 1, pp. 309- 314.