教育用二維被動式步行玩具之開發

本論文為設計一可供技術教育用途之斜坡玩具，對二維的被動式步行機構進行深入探討。本研究以實作與實驗的方式進行。首先利用攝影設備觀察斜坡玩具搖擺式步行現象，確定步行的完整週期，並推導出影響搖擺式步行的重要因子。然後製作多數個模型，進行一系列的實驗，不斷嘗試錯誤與檢討，最後以實驗歸納之方式，推導出斜坡玩具的設計準則。今後可以使用此斜坡玩具做為技術教育的載具，讓學生自行選擇斜面角度，決定整體重心位置與腳底圓弧度，設計製作可於斜面上，藉由重力能以一自然穩定的頻率走動的作品，達到技術教育的目的。

關鍵字

被動式步行；二維

並列摘要

In this thesis , for the developing a slope walking toy for the educational purpose , we try to investigate the 2D passive dynamic walking mechanism experimentally . At first , we use the photography technology to observe the rocking phenomenon of the passive walking toy to certify the complete walking cycle and try to find the important parameter which concern the walking phenomenon . And many models with different parameter was made , and a series of experiments was done . Due to the experiment results , We set up the checking formulas and the design process for passive dynamic walking toy . From now on , we can use the passive dynamic walking toy as a technological education carrier , to let the student decide the angle of slope , the location of the center of gravity , and radian of the sloe of the foot to let the simple toy walk with steady frequency on the slope .

並列關鍵字

passive dynamic walking ； 2D

參考文獻

[3]TerumasaNarukawa, Kazuto Yokoyama, Masaki Takahashi and Kazuo Yoshida “An Experimental Study of Three-Dimensional Passive Dynamic Walking with Flat Feet and Ankle Springs”, Cutting Edge Robotics 2010, VedranKordic (Ed.), ISBN: 978-953-307-062-9

[4]S. H. Collins, M. Wisse, and A. Ruina, “A Three-Dimensional Passive Dynamic Walking Robot with Two Legs and Knees,” International Journal of Robotics Research, vol. 20, no. 7, 2001.

[5]陳碩彥，具被動步行特性雙足機器人之混合系統建模與主動式步態控制，國立中興大學機械工程學系碩士論文，2006。

[6]莊政達，被動動力設計之雙足機器人，國立中央大學電機工程研究所碩士論文，2006。

[1]T. McGeer, “Passive Dynamic Walking,” International Journal of Robotics Research, vol. 9, no. 2 ,1990.

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教育用二維被動式步行玩具之開發

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