臺灣博碩士論文加值系統

本篇研究主要是描述如何運用仿昆蟲控制策略使得六足機器人具備有轉彎的能力。根據觀察到昆蟲直走以及轉彎時的特徵，進而利用腳的擺動幅度大小以及角速度之間的關係，設計出一能控制轉彎的仿昆蟲控制器，另外，在六足機器人本體的前方，裝置上有立體音效果的超音波感測器，使得六足機器人可以自主地規避複雜的環境。利用HexCrawler 進行測試實驗，成功使得HexCrawler 在任意半徑的情況下能以穩定的步伐直行與轉彎。

The main purpose of this paper is to describe an insect-inspired control strategy making a hexapod capable of curve-walking. Through the use of the relationship of the leg’s swinging angular velocity to swinging angle, which is based on the features obtained by observing an insect’s running ahead and turning, an insect-inspired locomotion controller for legged robots is devised. A test hexapod HexCrawler exhibits the achievement of the degree of walking ahead and turning with variable curvature and stable gait. In addition, a binaural ultrasonic sensor system which is mounted to the front of HexCrawler allows the hexapod to navigate a cluttered environment autonomously.

中文摘要 i
Abstract ii
目錄 iii
圖目錄 v
表目錄 vii
第一章 緒論 1
1.1 前言 1
1.2 國內外相關研究 2
1.3 論文導覽 8
第二章 系統結構 10
2.1 六足機器人之結構 10
2.2 控制面板 10
2.2.1 Board of education面板 12
2.2.2 Parallax Servo Controller面板 14
2.3 伺服機 15
2.4 超音波感測器 18
第三章 研究方法 21
3.1 步伐控制 21
3.1.1直行步伐 24
3.1.2 轉彎步伐 29
3.2 六足機器人轉彎策略 31
3.2.1 直走步伐分析 31
3.2.2 轉彎步伐分析 36
3.3 超音波偵測障礙物 38
第四章 六足機器人轉彎測試結果 43
4.1 轉彎結果 43
4.2 障礙物測試 44
4.2.1 左轉測試 46
4.2.2 右轉測試 48
第五章 結論與未來展望 51
5.1 結論 51
5.2 未來展望 52
參考文獻 53
附錄A PSC使用手冊 56

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