2011-08-012024-05-17https://scholars.lib.ntu.edu.tw/handle/123456789/678683摘要：隨著仿生概念的風行以及對機器人領域的重視，仿生機器人近幾年來於學業界開始蓬勃發展。但若將現有仿生機器人和生物相比較，兩者間的外形和整體運動能力仍具有很大的差異，其根本原因之一在於目前機器人系統仍建構在機械、電機與資訊的系統整合上，少了以化學為基礎的材料科學。因此，本計畫擬有系統的由仿生端出發，整合先進材料與製程以進行軟性足式機器人的研發。計畫中分為兩個主軸，一為師法自然，與國外學者合作探討軟性材料在生物運動上所具有的功能與獨特性，二為藉由先進材料的跨領域整合，在足式機器人上重現軟性的特質。以開發智慧化軟硬複合式複材結構為目標，整體性的更新替換目前在機器人上廣泛使用的剛性金屬結構和單一塑膠生成的零組件。具體來說，分別開發具輕量化剛性結構的碳纖維複材、具輕量化撓性特性的玻璃纖維複材、以及彈性黏性可調配高分子材料，並更進一步的將三個先進材料整併，結合嵌入式的感測與電路元件，開發智慧化軟硬複合式複材單體，整合達到創新軟性仿生足式機器人的研發。以獨立調控之剛性、被動彈性、與阻尼性，朝仿生和激發機器人動態步態的方向邁進。<br> Abstract: Bio-inspired robotics becomes one of the popular research fields in recent years because of the prevalence of bio-inspired concept and the focus to the robotic related topics. However, comparing the robots to the biological systems, a great discrepancy exists between them in both appearance and locomotion performance. One of the basic reasons lies in the lack of integration of the chemistry-based material science to the current systems which is mainly integrated by mechanical, electrical, and computer engineering. Here, the proposal aims for the initiating from the bio-inspired concept and then developing the innovative legged soft robot. The proposal contains two aspects: one is learning from nature, to understand how the soft properties affects the animals’ dynamic locomotion through the collaboration work with the abroad well-know experts. The other is the construction of the legged robot with advanced material technology, to replace the widely-used metals with the smart hard-soft hybrid composite structure. More specifically, the tasks include developing the low-weight and high-rigidity carbon fiber-reinforced composite, high-elasticity fiberglass, and elastic and damping tunable polymers, followed by integrating the novel fabrications of the developed advanced materials and embedding sensors and electronics circuits, to achieve the design of the novel bio-inspired legged soft robot. The independent adjustable rigidity, elasticity, and damping properties allow the initiation of the dynamics behavior of the bio-inspired legged robots.軟性機器人足式機器人先進材料纖維嵌入式感測Soft robotlegged robotadvanced materialsfiberembedded sensing