足式平面基礎模型之探索與其應用於四足機器人翻跳及跑步行為

本研究致力於新平面模型的開發與其應用於新四足機器人。首先硬體方面建構以無刷直驅馬達驅動之新四足機器人，並與實驗室既有的機電系統整合，達到高扭力輸出、低機身重量之優點，使機器人能達成更動態之行為。模型方面，建構平面模型 Two-leg rolling SLIP (Two-leg R-SLIP)，包含剛體軀幹及兩隻圓弧彈性腳，以探討軀幹動態及雙腳的地面作用力對模型動態之影響。本文詳細推導模型的動態方程式與狀態切換機制，接著利用此模型探討四足機器人的跳躍/後翻行為。模擬結果顯示不同的跳躍參數影響不同的跳躍表現指標。實驗驗證模擬結果，機器人可做出跳躍/後翻行為。接著將模型加入位置控制，建立 Two-leg clock-torqued rolling SLIP (Two-leg CTR-SLIP)模型，利用此模型探討機器人的跑動行為，藉由規劃雙腳的軌跡，探究模型暫態及穩態的動態。本研究亦加入地面摩擦力之考量，使模型更貼近於實際情況。穩定性分析結果顯示，平面模型的動態相較於單質點模型更為複雜，收斂區域也不同。實驗結果印證平面模型能抓到機器人暫態及穩態的特徵。本研究亦提出不同功能前後腳之平面模型 Two-leg eccentric SLIP (Two-leg CTe-SLIP)，藉由不同方向、相同偏移量的前後腳構型，改變前後腳的觸地角度，進而分化其功能。藉由規劃雙腳軌跡應用於平面模型，探討模型的跑動行為。模擬與實驗結果均顯示，具有偏移之模型與機器人皆能表現穩定的跑動行為，且前後腳表現不同的力軌跡，更符合動物的運動行為。

關鍵字

四足機器人；無刷直軀馬達；簡化模型；平面簡化模型；穩定點；跑動行為；收斂盆地

並列摘要

This research demonstrates the development of new planar models and their applications to a new quadruped robot. First, the quadrueped robot propelled by directdrive brushless motors is built, and its mechatronic system is intergrated with laboratory’s mechatronic system. The advantages of the new robot are low weight and high-torque output so that the robot can perform more dynamic motions. This research develops the planar model two-leg rolling SLIP (Two-leg R-SLIP). The model includes a rigid body and two circular compliant legs to investigate the body’s dynamic and how forces and moments are transmitted from the ground to the body through the foreleg and hindleg. The model’s equations of motion were derived, and the model was applied to inspecting leaping/flipping beheaviors of the quadruped robot. The simulation results indicate that different factors dominate different indices of the motion. The experiments validated the simulation result and the robot can perform leaping and flipping behaviors predicted by the model. Clock-based torqued control is added on leg orientations of the model to develop two-leg clock-torqued rolling SLIP (Two-leg CTR-SLIP) model. By planning the trajectories of two legs, the model can be utilized to investigate transient and steady states of robot’s running behaviors. Friction between the ground and the legs is also considered so that the model can better fit real conditions. The simulation results indicate that the dynamic of the planar model is more complex than that of the single-legged model, and that the convergent regions of two models differ. The experiment results proved the model can capture the features of transient and steady states of running beheaviors. The research also aims to develop the planar model with different functionality between the foreleg and hindleg, introducing two-leg clock-torqued eccentric SLIP (Twoleg CTe-SLIP) model. The model contains the foreleg and hindleg with differnent morphology to alter touchdown angles of two legs, which stimulates the differentiation of functions. The model is utilized to investigate robot’s running behaviors by planning the trajectories of two legs. The results of simulations and experiments showed that the model and robot with differnent legs’ morphology can both perform stable running motions, and that the two legs perform differentiated force patterns corresponding with animal-like dynamic.