臺灣博碩士論文加值系統

步態研究在步行機器人研究方面扮有相當重要的角色，因為必須先決定機器人步行的模式與規則，藉由這些步態規劃才能做更進一步的設計、控制、分析或探討。本研究探討的對象為六足與四足步行機器人，建立一數學模型，利用此數學模型可完善地描述自然步態以及人工步態，具有系統地規劃及表示步態。
　　除了規劃步態方式外，本文另一研究重點為規劃機器人行走之姿態，在此提出一新的足部軌跡規劃概念，並可建立足部運動之S-V-A-J模型，用以描述及探討足部的運動情形。本文之目標為使機器人能夠達到等速直行的目的，應用設計凸輪之「段落函數(piecewise function)」方法，如此便可使機器人行走過程中等速度前進且維持加速度之連續性。

Gait study plays an important role in the walking robot, because it is the foundation of walking robots. The robot must first determine the walking pattern and rules, thus we can evolve further design, control, analysis or study. This research focus on hexapod and quadruped walking robots, and establishes a mathematical model which can fully describe natural and artificial gaits, and systematically plan and express them.
Another point of this research is planning walk trajectory of robot. Here we purpose a new concept of foot trajectory planning, and establish S-V-A-J models for feet motion. We try to make robots move forward with constant velocity, as a goal, by using piecewise function of cam design theory. Therefore robot can walk with constant velocity and maintain the continuity of acceleration.

目錄 Ⅰ
圖目錄 Ⅱ
表目錄 Ⅴ
摘要 0
ABSTRACT 1
第一章 緒論 2
1.1 足式機器人發展 5
1.2 機器人步態研究之發展 11
1.3 機器人姿態研究之發展 12
1.4 研究動機與目的 15
1.5 本文架構 16
第二章 步態的基礎理論 17
2.1 步態之表示法 17
2.2 步態之種類 19
2.3 六足與四足之步態理論 20
第三章 自然步態之規劃與數學模型 25
3.1 步態之基本參數定義 25
3.2 步態之數學模型 26
3.3 六足自然步態規劃與數學模型 27
3.4 四足自然步態規劃與數學模型 37
3.5 小結 45
第四章 人工步態之規劃與數學模型 46
4.1 六足自然步態改為人工步態 46
4.2 六足(2-2-2)人工步態之規劃與模型 86
4.3 四足(2-2)人工步態之規劃與模型 97
4.4 小結 102
第五章 步姿規劃與模型 104
5.1 加速度實驗 104
5.2 直行機器人步姿規劃之基本概念 113
5.3 直行機器人x方向之步姿規劃與模型 115
5.4 直行機器人z方向之步姿規劃與模型 124
5.5 軌跡規劃之範例 141
5.6 步態規劃結合步姿規劃 144
5.7 小結 147
第六章 結果與討論 151
參考文獻 155

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