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 In this thesis, we introduced a quadruped robot which has compliant legs, energy storing and releasing mechanisms. To preserve the compliance of legs, the quadruped is equipped with cable-driven mechanism which are used to control the compliant legs. The energy storing and releasing mechanisms contained the energy storing springs, worm and worm wheel, rachet and pawls. To determine the dynamics of the robot, we derived dynamic equation by using Euler-Lagrange method. The effect of compliant components were calculated by equivalent torque. The dynamic model was used to simulate the walking and jumping motion of the robot in Simulink. In simulation, the jumping height and distance can be changed by varying maximum tension length of the energy storing springs. The body orientation can be controlled by the turning method that we proposed. The turning method was based on varying the step length of each leg. In simulations and experiments, the results showed that the turning method can lead the robot to desired direction.
 第一章緒論.............11.1 研究背景............11.2 研究動機與目的...........71.3 論文架構............8第二章機器人設計...........112.1 第一代機器人..........112.1.1 設計問題..........112.2 第二代機器人..........152.2.1 具有順應性之雙節式腳.......152.2.2 纜繩機構..........152.2.3 儲能機構..........18第三章動態模型............203.1 尤拉-拉格朗日法..........203.2 機器人模型...........203.3 彈簧等效扭力..........243.4 地面反作用力與摩擦力模型........263.4.1 非線性接觸模型[13] ........26第四章運動控制............294.1 行走控制............294.1.1 步態...........294.1.2 足尖軌跡..........304.1.3 逆向運動學.........304.1.4 模擬結果..........324.2 轉向控制............324.2.1 轉向方法..........324.3 跳躍控制............354.3.1 起跳控制..........354.3.2 落地控制..........354.3.3 模擬結果..........38第五章實驗架設與結果...........405.1 軟硬體簡介...........405.1.1 Arduino簡介..........405.1.2 Linux簡介..........425.1.3 Robot Operating System 簡介[14] ......425.1.4 機器人通訊架構.........445.1.5 足尖軌跡測量..........455.1.6 行走實驗架設..........455.1.7 轉向實驗架設..........465.1.8 跳躍實驗架設..........475.2 實驗結果............475.2.1 行走實驗..........475.2.2 轉向實驗..........535.2.3 跳躍實驗..........535.3 結果討論............58第六章結論與未來展望...........696.1 結論.............696.2 未來展望............70參考文獻.............72附錄..............76A.Matrix of Dynamic Model ........76B.Simulink Model ..........87C.Control Program of the Robot ........102