感測器融合技術在六足仿生機器人之應用

Abstract

本論文是以形狀記憶合金為致動器，來建構一六足仿生機器人。因為肢腳運動比輪子更能克服地形的障礙，故仿生機器人在災難救助或野外調查上佔有優勢。而機器人的建構分為兩方面：一是機器人的實體架構，二是機器人的感測器資訊融合。第一，在機器人的實體方面，是以壓克力為主要材料，以形狀記憶合金作為致動器；第二，在機器人感測器資訊融合上，使用的感測器有：足底壓力感測器、加速規以及羅盤定位感測器，並使用ARM9為主要控制晶片，在其上架設Windows CE嵌入式作業系統，連接各感測器與晶片，即時性地收集各感應器的資訊。最後經過運算，對形狀記憶合金下達驅動的命令，使機器人可獨立自主的行走，形成一完整的嵌入式控制系統。

This thesis presents the design and building of a six-legged bio-mimicking robot. The design goal is to establish an economic design for possible mass production, and to endow the robot with communication ability so that the robots can work together to achieve a common objective. The robot is to have the ability to independently perform pre-assigned tasks and to make decisions when situation requires task changing. This thesis composes the mechanical design and the system development of the robot. The mechanical design includes the actuation and the locomotive mechanism design. The mechanical arrangement of the legs also determines the stroke of the robot gaits. The control system, on the other hand, implements the various gaits for the robot to maneuver. The sensors used in the control system include the accelerometer, the compass sensor and the step touch sensors. We develop a fusion formula to take advantage of the signal from the various sensors to achieve an accurate robot position measurement. This information is useful for future distributed information network composed by the robotic team.