順從式足型機器人設計與改良

The Design and Improvement of Compliant Hexapod Robot

陳廷熠(Ting-yi Chen)

指導教授 ： 鍾鴻源

國立中央大學/資訊電機學院/電機工程學系/碩士(2007年)

摘要

本研究之目的在設計全新的順從式足型機器人硬體，以期提供的更好的性能輸出，並且對此機器人做進階的步態控制探討。機器人的架構主要基於順從型之六足機器人所發展，目的是可以在崎嶇的地形下行走。順從型機器人系統設計包含直流馬達，順從足型機構的設計、致動器驅動電路與控制器系統等。使用單晶片採分散控制分工方式成功實現該機器人，分工控制降低了機器人控制的複雜度，提升了系統的穩定性。此外，實驗結果上也驗證了步行、轉彎等控制，以及草地行進、跨越障礙物等移動步態。本研究發展了一個順從式機器人發展平台，為日後設計新步態與動作的設計提供很大的彈性及空間。

關鍵字

足型機器人 ； 順從足型機器人 ； 分散式控制

並列摘要

The purpose of this paper is to design and to improve the Compliant Hexapod Robot. It is expected that the proposed Hexapod Robot can provide better performance. The developed robot system is based on the Compliant Hexapod Robot. This scheme can help robot move on the rough landforms. The structure of the Compliant Hexapod Robot system consists of DC-motors, compliant legs, motor driving circuit and controller system. In this paper, we will apply the distributed controllers to accomplish the hexapod robot. This control scheme can reduce the complexity of the structure, and enhance the stability of the system. In addition, the experiments include ambulating, turning, passing through the grass and crossing the obstacle to test performances of the robot. In this study, we provide a development platform of a Compliant Hexapod Robot. This development platform will give a lot of assistance in planning new gait and movement.

並列關鍵字

distributed control ； legged robot ； Compliant Hexapod Robot

參考文獻

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