輪腳快速變換平台及其仿生控制架構之開發

Development of a Rapid Leg-Wheel Transformable Platform and its Bio-inspired Controlling Structure

陳為熙(Wei-Hsi Chen)

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(2013年)

https://doi.org/10.6342/NTU.2013.10828

摘要

本論文以實驗室所開發第一代輪腳複合機器人 Quattroped 為基礎,進而改版研發出新一代的輪腳快速變換機器人(Leg-wheel transformable robot)TurboQuad, 在國內外學界具有獨特性與創新性。新一代機器人具有數項創新元素,使其運動能力大量提升,能更有效能的發揮輪腳複合的功效。在機構方面,輪腳複合與變換採用新的機構設計,使用來驅動每一足/輪的雙馬達系統,也同時提供了輪腳變換的功能。在新一代的設計之下,一方面減少了在前一代機器人中需要額外安裝輪腳變換機構與機電系統的複雜性,一方面也提供了機器人在運動中快速進行輪腳變換的可能性,不似前一代需在靜止狀態下進行輪腳變換。在結構方面,機器人也更新為以碳纖維複合材料為基底,達到高剛性與輕量化的設計架構。在控制方面,本論文屏除前一代機器人以預設軌跡驅動四足/四輪的規畫,而採用較先進的仿生控制方法,以中樞模式產生器(Central Pattern Generator)即時生成連續平滑的軌跡,並且藉由耦合振盪元網絡(Coupled oscillators network)的設計,來控制各足之間的協調,以及進行不同步態間的轉換。在設計與分析之後,並實際開發出機器人實體,完成機構、機電、與控制系統的整合,並以實驗方式驗證機器人各步態如輪模式、腳慢跑步態、和腳步行步態等的運動效能,確認機器人能發揮輪平穩高速高效能的運動特性,以及腳越障與動態的移動特性,驗證此特殊設計下的機器人擁有良好的環境適應力。

關鍵字

仿生機器人 ； 輪腳複合 ； 輪機器人 ； 四足機器人 ； 仿生控制架構 ； 中樞模式產生器 ； 耦合振盪元 ； 輪腳變換 ； 步態變換

並列摘要

This paper reports on the design, integration, and performance evaluation of a novel 4-leg/4-wheel transformable mobile robot TurboQuad. In contrast to most hybrid platforms which have separate mechanisms and actuators for wheels and legs, this robot is implemented with a unique transformation mechanism which directly switches the morphology of the driving mechanism between the wheels (i.e. a full circle) and a 2 degree-of-freedom S shaped leg (i.e. offsetting two half-circles as a leg), so the same system of actuation power can be efficiently utilized in both wheeled and legged modes. A Bio-inspired controlling structure utilizing the model of Central Pattern Generator and coupled oscillators network are then applied on the platform to generate smooth and continuous trajectory. The design process, mechatronics, software infrastructure, and behavioral development are described. The performance of the robot is evaluated in various scenarios, including running in wheeled mode, trotting, walking, gait transitioning in legged mode, and leg-wheel transformation during running.

並列關鍵字

Bio-inspired robotics ； Leg-wheel hybrid platform ； Mobile robot ； Quadruped ； Bio-inspired controlling architecture ； Central Pattern Generator ； Coupled oscillators ； Leg-wheel transition ； Gait transition

參考文獻

參考文獻

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