2015-08-012024-05-17https://scholars.lib.ntu.edu.tw/handle/123456789/677785摘要：隨著工程與生物科學的演進與整合，近幾年足式仿生機器人的發展蓬勃，也朝向如生物般的動態運動邁進。計畫申請人於實驗室成立後前幾年，發展了二足、四足、六足、輪型、球型等各式機器人平台，建構所需各個子技術和系統整合能力。實驗室近期的研究主軸則邁入多足動態運動步態的開發和即時回授機制的導入。本計畫試圖依循多足生物運動以低自由度模型為基礎的控制架構，來發展適用於機器人剛體運動的基礎模型，以及探討此模型與高自由度多足機器人之間的對應關係，以建立動態步態控制法則。在目前生物相關文獻中使用的基礎模型，主要在討輪生物質心的運動，對於生物體轉動的特性則未有量化論述，而計畫申請人於近年發展機器人運動步態時也察覺到，轉動自由度對機器人運動的穩定性具有高度的影響。因此，本計畫擬發展獨立於移動之轉動基礎模型，以及同時內含移動與轉動特質的基礎模型，來讓機器人運動能有較全面的控制依據。同時，本計畫將以此兩個模型為基礎，來發展二足袋鼠機器人、四足機器人（輪腳複合式機器人）、六足機器人等的各式動態步態，如hopping、pronking、bounding、trotting、tripod jogging等等，並進行歸納彙整，探討各步態之間的特性與差異性，以及分析機器人上自由度配置對運動的影響，以確認基礎模型在步態發展上的定位與功能。<br> Abstract: Along with development and integration of engineering and biological science, bio-inspired legged robots have recently received significant attention. In the earlier years, the principle investigator’s team has been developed a biped, a quadruped, a hexapod, wheeled robots, and spherical robots, targeting at developing all subsystems and integration capability required in robot building. Recently, the team gradually moves its focus to development of dynamic gait and feedback mechanism. Aiming at following the control morphology of legged animals which use the reduced-order templates as the guidance, this project develops the templates suitable for rigid-body robots and investigates the mapping between the templates and the high-DOF robots, establishing the control mechanisms of dynamic gaits. So far the templates reported in biological literatures only address translational motion of the animals’ mass centers, but very limited reports regarding the rotational motion. Through the research work in recent years, the investigator find that rotation motion of the robot play a key role in its dynamic locomotion. Therefore, this project focuses on developing a translation-independent rotational template as well as a translational-rotational hybrid template, as the basic templates for robot control. In the meantime, the templates will be served as the guideline for developing various dynamic gaits in a bipedal kangaroo robot, a leg-wheel hybrid quadruped robot, a hexapod robot, such as pronking, bounding, trotting, and tripod jogging. Characteristics and differences of gaits will be summarized, and the effect of degree of freedoms on the robot will be analyzed. Both works serve as the means for validating the role and function of the templates.模型動態步態二足袋鼠機器人四足機器人六足機器人templatemodeldynamical gaitskangaroo robotquadruped robothexapod robot