臺灣博碩士論文加值系統

本篇論文描述以仿昆蟲特有的反射動作應用於六足機器人，使著他能穩固得在凹凸不平的地型上行走。當昆蟲行走中遇到有障礙時，他會立即啟動反射動作來克服障礙，將此機制應用於六足機器人，他能安然得度過像坑洞或是壕溝的地型。要使六足機器人能實現此機制，機器人本身要有一個足底觸覺系統來洞悉周遭環境。藉由監視伺服機電流的變化，再將此訊號處理之後回授到機器人的控制器中，使機器人具備察覺障礙物與喪失支撐點的能力。並將控制器加入搜索反射功能，加強六足機器人在崎嶇不平地面上的行動能力。

This thesis describes the imitation of insect''s specific reflexes for hexapod robot, it can safely walk on the rough terrain. When insect walks and encounters obstacle, it can start reflexes to negotiate obstacle immediately. When mechanism is used for hexapod robot, it can be safe to get across cavity or ditch of the terrain. To implement this mechanism, robot must has a plantar touch system to observe the environment. Monitoring the change of the R/C servo current enable the robot to detect obstacles and loss of support, and then put the signal of current into the feedback control system of the robot, Local searching reflex will be incorporated with the controller for improving rough terrain locomotion.

誌謝 I
中文摘要 II
ABSTRACT III
目 錄 IV
圖目錄 VI
第一章 緒 論 1
1.1前言 1
1.2文獻回顧 2
1.3論文導覽 7
第二章 系統結構 11
2.1 系統概述 11
2.2 控制元件 12
2.3 足底觸覺系統 14
2.3.1 設計動機 14
2.3.2 設計方法 14
2.3.3 感測電路 18
第三章 控制法則 32
3.1 步伐控制 32
3.1.1 步伐規劃 32
3.1.2 步態分析 33
3.1.3 控制機制 34
3.2 反射機制 37
3.2.1 晃動反射動作 37
3.2.2 高度反射動作 38
3.2.3 搜尋反射動作 38
第四章 實際測試與結果 48
4.1 步伐控制流程 48
4.2 搜尋反射動作流程 49
4.3 測試結果 50
4.3.1 Case1：平坦的地形 51
4.3.2 Case2：坑洞的地形（A） 51
4.3.3 Case3：坑洞的地形（B） 53
4.3.4 Case4：壕溝的地形 54
第五章 結論與未來展望 72
5.1 結論 72
5.2 未來展望 73
參考文獻 75

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