臺灣博碩士論文加值系統

本文主要探討一種新型的輪腳複合模組之研發，此輪腳複合模組使用實驗室第一代輪腳複合機器人Quattroped開發的雙自由度馬達模組來驅動，透過對輪腳部分幾何形狀之主動控制，來進行輪模式與足模式間切換。該平台同時具有輪式平台與足式平台的功能，使其在平坦地面可以如同一般車輛以輪模式行進，發揮輪型載具快速省能的運動特性，在面臨較崎嶇的地形、階梯、障礙物時，可切換成足模式，藉由較高自由度的四肢以穿越障礙地形。新的輪腳複合模組擁有更長的腳長，能展現更高動態的步態，更高地跳躍性。
本文在設計與分析之後，開發出輪腳模組的實體，完成機構、機電、控制系統之間的整合，並規劃輪腳轉換之軌跡。採用model-based控制方法，以外力估測模型來估測外力，利用位置控制方式使輪腳模組的腳長方向自由度表現出如同被動彈簧的效果，以模擬SLIP模型中的彈簧表現，進而使用實體單腳平台來實驗，驗證其可行性。

This thesis mainly discusses the development of a novel leg-wheel hybrid module. This leg-wheel hybrid module is driven by a 2 degree-of-freedom (DoF) motor module developed in Quattroped, the first generation of leg-wheel robots in the laboratory. Proposed module is able to switch between wheel mode and legged mode by active control, and is capable of moving like a wheeled platform as well as a legged one. It can travel like a normal vehicle in wheel mode which can run fast and efficiently on flat ground. In contrast, the legged mode is superior in crossing various uneven terrains (such as rough ground, obstacles, stair, and etc) via coordination of 2 DoF of leg. The new leg-wheel hybrid module has a longer foot length, representing higher dynamic gait and higher jump.
After design and analysis, this thesis develops the leg-wheel hybrid module, integrating the mechanism, the electromechanical system, and the control system. Planning the trajectory of the transition between wheel mode and leg mode. Model-based control method is used. Estimate the external force by the external force estimation model and using position control. In this way, the DoF of the leg-wheel hybrid module in the lengthwise direction behaves like a passive spring to simulate the spring performance in the SLIP model. In the end, a series of experiments with the single-foot platform are presented to verify the feasibility.

誌謝 i
中文摘要 ii
ABSTRACT iii
目錄 iv
圖目錄 vii
表目錄 x
符號表 xi
第一章 緒論 1
1.1 前言 1
1.2 研究動機 1
1.3 文獻回顧 2
1.4 貢獻 8
1.5 論文架構 9
第二章 輪腳機構設計 10
2.1 設計理念 10
2.2 各版本發想 12
2.2.1 鍊條式圓弧腳 12
2.2.2 五連桿 13
2.2.3 七連桿 15
2.3 運動學分析 18
2.4 桿件長度選擇 21
2.4.1 全域搜索 22
2.4.2 硬體機構限制 23
2.4.3 虛功法 24
2.5 硬體架構 26
2.5.1 雙自由度機構 26
2.5.2 輪腳模組碳纖管/鋁棒版 27
2.5.3 輪腳模組鋁件版 29
2.5.4 各版本比較 31
2.6 機電系統 32
2.7 空跑測試 33
第三章 輪腳轉換 34
3.1 動力學分析 34
3.1.1 Lagrange方程式 34
3.1.2 phase定義 36
3.2 輪腳轉換軌跡規劃 38
3.2.1 Wheel to leaping軌跡規劃 38
3.2.2 Foot to wheel軌跡規劃 48
3.3 輪腳轉換實驗 49
3.3.1 實驗平台簡介 49
3.3.2 Wheel to leaping實驗 50
第四章 單腳連續跳躍 54
4.1 Model-based控制 54
4.1.1 SLIP模型 55
4.1.2 模型與機器人腳之映射關係 58
4.2 虛擬彈簧控制 61
4.2.1 腳長l與角度θ間轉換關係 61
4.2.2 外力估測模型 63
4.2.3 控制策略 66
4.3 虛擬彈簧實驗 67
4.3.1 單馬達扭力常數測試 67
4.3.2 負載測k值實驗 69
4.3.3 單腳連續跳躍實驗 75
第五章 結論與未來展望 82
REFERENCE 83

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