足型機器人之系統化創新設計與製作

智慧型機器人是21世紀先進國家優先發展的新科技產業，目前全球服務型機器人市場逐漸成形，具有家庭服務概念的機器人產業已開始將資源投入發展，隨著家庭生活陪伴與看護需求提升，機器人可扮演居家看護與親人互動的角色，提供家庭安全、醫療陪伴等服務。現階段機器人的技術應用，大都以輪式機器人為發展主軸，但由於足型機器人可於非平坦地形進行服務工作，因此足型機器人將成為機器人技術發展方向。為了設計與製作家用伴侶之足型機器人，本論文應用TRIZ (Theory of Inventive Problem Solving) 創新理論與工具，產生足型機器人的一系列創新方案。首先，本研究分析問題展開陳述，並藉由TRIZ理論的矛盾矩陣，作為足型機器人系統化創新設計的依據。應用原始機構雙足機器人(Robovie-X)，重新組合製作四足機器人，並改良四足機器人創新方案，使其動作模式具避障、巡視功能。理想化設計部分，經由最終理想解以及應用科學效應及現象，使其動作模式具監視、遠端控制與追蹤等功能。物質-場部分，藉著物質-場模型與76個標準解，解決電源無法持續供應，導致電力不足的解題方案。本研究探討足型機器人的一系列創新方案，並利用矛盾矩陣與理想化之設計方案，以驗證其實用性。研究成果有助於提升足型機器人的功能，使其動作模式具跟隨、避障、上階梯及遠端監控功能。

關鍵字

機器人； TRIZ創新理論

並列摘要

The intelligent robots are the top priority of the development in the state-of-the-art technology industry for advanced countries in the 21th century. The worldwide market of service-based robots has been gradually forming. The robot industry which aims at the family services has pulled all their resources to develop the service-based robots. With the urgent needs of accompanying and nursing the ill and elderly, the robots can serve as the role to look after and activate with family members, providing services of home security and medical care. Current robot technology is mostly based on the development of wheeled robots; however, foot-type robots can carry out service work on uneven terrain, so foot-type robots would be the direction of robotics development. In order to design and manufacture the foot-type robots for home care services, this paper applies TRIZ (Theory of Inventive Problem Solving) theory and tools to create a series of systematic innovations for the foot-type robot. First, this research starts with the issues statement. Based on the contradiction matrix of TRIZ theory, the systematic design of innovating foot-type robots is made. By employing the biped robot of primitive organization (Robovie-X), the reconfiguration and the innovation of the quadruped robots has been made. In addition, the quadruped robots have been greatly improved on their action mode with obstacle avoidance and inspection function. For the ideal part, in view of the ideal final solution and the application of scientific effects and phenomena, it is possible for their action mode to have the functions of monitoring, remote control and tracking. For the substance - field part, through the Substance - field model and the 76 standard solutions, it enables us to solve the problem of not being able to sustain the power supply consistently, causing the power shortage. This research examines a series of systematic innovation solutions to the foot-type robots, chooses the contradiction matrix and ideality design to verify its practicality. The result of the research facilitates improving the functions of the foot-type robots, which makes its action mode with following, obstacle avoidance, going up the ladder, and the remote monitoring function.