陳永耀臺灣大學:電機工程學研究所張凱翔Chang, Kai-HsiangKai-HsiangChang2010-07-012018-07-062010-07-012018-07-062008U0001-2907200812101400http://ntur.lib.ntu.edu.tw//handle/246246/187956近幾年來，機械人學是一個被廣泛研究的領域，而其中融合仿生學的機械人研究更是引起各界學者的興趣，並且被應用於各種領域之中。藉由觀察自然界變化或是生物的活動行為而找尋其中奧秘之道理，將其中奧秘轉移於實際應用中便是機械人仿生學最令人感興趣的一個部份。本論文藉由觀察生物運動行為的角度探討蛇類的運動方式以及其運動方式因應環境變化而產生的改變。論文的主要研究方式包含兩個主題，分別為利用影像處理方式取得蛇類在爬行時的運動姿態以及其變化，以及分析其運動變化之可能規律。經過多組實驗數據整理顯示，蛇在爬行時，身體左右擺動的幅度會因地面環境的影響而有所改變，而在不同部分的身體擺動幅度也不相同。在靠近頭部的前段軀體在爬行時的擺動幅度比起其他軀體區段的擺動幅度都要來得小。這顯示說，蛇並非用所有的軀體對地面環境運動取得前進所需的前進力，而是用部分的軀體對地面環境做適當的運動以取得足夠的前進力，而靠近頭的身體多在探試環境以及帶領後面身體為主，尾巴則是跟隨身體的軌跡移動。論文主要的研究在探討蛇行運動的運動方式以及其面對地面環境所做的變化。期望在未來的研究中能對於蛇行運動的運動方式有更深入的探討，並且能將其運動演化上的優勢應用在工程領域之中。Recently, robotics has become an important research in various domains, and bio-mimetic is a very interesting part of robotics. Bio-mimetic gains its popularity in many different fields. It is interesting to find the rules of the world and applying in engineering. In nature, different locomotion is used by many different animals. The snake crawling motion is studied in this thesis to understand its locomotion principles and the difference to adapt the change of environment.he thesis consists of two parts. The first one is to take the image data from snake videos, and the second part is to analyze the trend of motion in different environment. From our observations, the swing of snake’s forward part is smaller than the other part when snake serpentines. The swings of snake’s body are not the same when snake serpentines on different ground. It means snakes get enough forward force from the middle part of body, the forward part of snake explores the environment, and the tail of snake just follow the body curve.he proposed work of the thesis is to study the serpentine movement of snakes and the change of movement in different environments. When a snake-like robot moves with varying bending angle amplitudes, it has higher speed and consumes lower power. It could be applied the advantages of snakes in engineering field.致謝 I要 IIbstract IIIontents IVist of Figures VIist of Tables IXymbols Xhapter 1 Introduction 1.1 Locomotion of Animals 1.2 Introduction to Bio-mimicry 2.3 Motivation 5.4 Thesis Organization 6hapter 2 Snake Locomotion and Robots 8.1 Locomotion of Snakes 8.1.1 Serpentine Movement 8.1.2 Rectilinear Movement 9.1.3 Concertina Movement 10.1.4 Side-winding Movement 11.2 Morphology of Snake Movement 12.3 The Kinematics of Snake Motions 18.4 Snake-like Robots 19.4.1 Active Cord Mechanism 20.4.2 Michigan Snake 21.4.3 GMD-Snake 22hapter 3 Efficiency on Variable Bending Angles for Snake Locomotion 24.1 Image Analysis of Snake Locomotion 25.2 Analysis from Bending Angle Data 31.2.1 Moving on Jigsaw Mats 33.2.2 Moving on Door Mats with Protrusion 35.2.3 Moving on Door Mats with Poles 36.2.4 Observations and Discussions 37.3 Experiments with Snake-like Robot 38.4 Experimental Results 40hapter 4 Conclusions and Future Work 50ppendix 51eferences 551302228 bytesapplication/pdfen-US蛇行運動蜿蜒爬行蛇型機械人snake locomotionserpentine movementsnake-like robotthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/187956/1/ntu-97-R95921073-1.pdf