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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 陳永耀 | |
dc.contributor.author | Kai-Hsiang Chang | en |
dc.contributor.author | 張凱翔 | zh_TW |
dc.date.accessioned | 2021-06-14T16:47:31Z | - |
dc.date.available | 2008-09-01 | |
dc.date.copyright | 2008-08-06 | |
dc.date.issued | 2008 | |
dc.date.submitted | 2008-07-31 | |
dc.identifier.citation | [1] Homepage of MIT Towing Tank, at http://web.mit.edu/towtank/www/.
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[10] Shigeo Hirose, Biologically Inspired Robots Snake-like Locomotion and Manipulators, Oxford University Press, pp.21-74, 1993. [11] Homepage of Hirose•Fukushima Robotics Lab, at http://www-robot.mes.titech.ac.jp/home.html . [12] Makoto Mori and Shigeo Hirose, “Development of Active Cord Mechanism ACM-R3 with Agile 3D Mobility,” Proc. IEEE Int. Conf. Intelligent Robots and Systems, Maui, Hawaii, USA, pp. 1552-1557, Oct. 2001. [13] K.L. Paap, M. Dehlwish, and B. Klaassen, “GMD-Snake: A Semi-Autonomous Snake-like Robot”, Distributed Autonomous Robotic Systems 2, Springer-Verlag, Tokyo, 1996. [14] Makoto Mori and Shigeo Hirose, “Three-dimensional Serpentine Motion and Lateral Rolling by Active Cord Mechanism ACM-R3,” Proc. IEEE Int. Conf. Intelligent Robots and Systems, Lausanne, Switzerland, pp. 829-834, Oct. 2002. [15] Yansong Shan and Yoram Koren, “Design and Motion Planning of a Mechanical Snake”, IEEE Transactions on Systems, Man, and Cybernetics, vol. 23, no. 4, pp. 1091-1100, July 1993. [16] Hidetaka Ohno and Shigeo Hirose, “Design of Slime Slime Robot and its Gait of Locomotion,” Proc. IEEE Int. Conf. Intelligent Robots and Systems, Maui, Hawaii, USA, pp. 707-714, Oct. 2001. [17] Shugen Ma, “Analysis of Snake Movement Forms for Realization of Snake-like Robots,” Proc. IEEE Int. Conf. Robotics and Automation, Detroit, Michigan, pp. 3007-3013, May 1999. [18] Masashi Saito, Masakazu Fukaya, and Tetsuya Iwasaki, “Serpentine Locomotion with Robotic Snakes,” IEEE Control System Magazine, pp. 64-81, Feb. 2002. [19] Shugen Ma, “Analysis of Creeping Locomotion of a Snake-like Robot,” Advanced Robotics, vol. 15, no. 2, pp. 205-224, 2001. [20] Rafael Gonzalez and Richard Woods, Digital Image Processing, New Jersey: Prentice Hall, 2002. [21] Changlong Ye, Shugem Ma, Bin Li, and Yuechao Wang, “Turning and Side Motion of Snake-like Robot,” Proc. IEEE Int. Conf. Robotics and Automation, New Orleans, LA, pp. 5075-5080, April 2004. [22] Gen Endo, Keiji Togawa, and Shigeo Hirose, “Study on Self-contained and Terrain Adaptive Active Cord Mechanism,” Proc. IEEE Int. Conf. Intelligent Robots and Systems, pp. 1399-1405, 1999. [23] J. Gray and H. Lissmann, “The Kinetics of Locomotion of the Grass-snake,” Journal of Experimental Biology, vol. 26, pp.354-367, 1950. [24] Tetsushi Kamegawa, Fumitoshi Matsuno, and Ranajit Chatterjee, “Proposition of Twisting Mode of Locomotion and GA based Motion Planning for Transition of Locomotion Modes of 3-Dimensional Snake-like Robot,” Proc. IEEE Int. Conf. Robotics and Automation, Washington, DC, pp. 1507-1512, May 2002. [25] Jim Ostrowski and Joel Burdick, “Gait Kinematics for a Serpentine Robot,” Proc. IEEE Int. Conf. Robotics and Automation, Minneapolis, Minnesota, pp. 1294-1299, April 1996. [26] Bin Li, Shugen Ma, Yuechao Wang, Yang Iv, and Li Chen, “Environment-Adaptable Locomotion of a Snake-like Robot,” Proc. IEEE Int. Conf. Robotics and Biomimetics, Shenyang, China, pp. 584-588, August 2004. [27] Shugen Ma and Naoki Tadokoro, “Analysis of Creeping Locomotion of a Snake-like Robot on a Slope,” Journal of Autonomous Robots, vol. 20, pp. 15-23, 2006. [ 28] Shigeo Hirose and Makoto Mori, “Biologically Inspired Snake-like Robots,” Proc. IEEE Int. Conf. Robotics and Biomimetics, Shenyang, China, pp. 1-7, 2004. [ 29] Stanley Olsen, Fish, Amphibian, and Reptile Remains from Archaeological Sites, Cambridge: Peabody Museum, pp. 20-29, 1968. [ 30] C. Bogert, “Rectilinear Locomotion in Snakes,” Copeia, vol. 1947, no. 4, pp. 253-254, Dec. 1947. [ 31] Hua Liu, Guozheng Yan, and Guoging Ding, “Research on the Locomotion Mechanism of Snake-like Robot,” Proc. IEEE Int. Micromechatronics and Human Science, pp. 183-188, 2001 [ 32] Shugen Ma , Hiroaki Araya, and Li Li, “Development of a Creeping Snake-robot,” Proc. IEEE Int. Computational Intelligence in Robotics and Automation, Banff, Alberta, Canada, pp. 77-82, July 2001. [ 33] Shugen Ma and Naoki Tadokoro, “Analysis of Creeping Locomotion of a Snake-like Robot on a Slope,” Autonomous Robots, Netherlands: Springer Science, pp. 15-23, 2006. [ 34] Shugen Ma, Yoshihiro Ohmameuda, Kousuke Inoue, and Bin Li, “Control of a 3-Dimensional Snake-like Robot,” Proc. IEEE Int. Conf. Robotics and Automation, Taipei, Taiwan, pp. 2067-2072, Sep. 2003. [ 35] Jinguo Liu, Yuechao Wang, Bin Li, and Shugen Ma, “Path Planning of a Snake-like Robot Based on Serpenoid Curve and Genetic Algorithms,” Proc. The 5th World Congress Intelligent Control and Automation, Hangzhou, China, pp. 4860-4864, June 2004. [ 36] Changlong Ye, Shugen Ma, Bin Li, and Yuechao Wang, “Twist-related Locomotion of a 3D Snake-like Robot,” Proc. IEEE Int. Conf. Robotics and Biomimetics, Shenyang, China, pp. 589-594, Aug. 2004. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/40433 | - |
dc.description.abstract | 近幾年來,機械人學是一個被廣泛研究的領域,而其中融合仿生學的機械人研究更是引起各界學者的興趣,並且被應用於各種領域之中。藉由觀察自然界變化或是生物的活動行為而找尋其中奧秘之道理,將其中奧秘轉移於實際應用中便是機械人仿生學最令人感興趣的一個部份。本論文藉由觀察生物運動行為的角度探討蛇類的運動方式以及其運動方式因應環境變化而產生的改變。
本論文的主要研究方式包含兩個主題,分別為利用影像處理方式取得蛇類在爬行時的運動姿態以及其變化,以及分析其運動變化之可能規律。經過多組實驗數據整理顯示,蛇在爬行時,身體左右擺動的幅度會因地面環境的影響而有所改變,而在不同部分的身體擺動幅度也不相同。在靠近頭部的前段軀體在爬行時的擺動幅度比起其他軀體區段的擺動幅度都要來得小。這顯示說,蛇並非用所有的軀體對地面環境運動取得前進所需的前進力,而是用部分的軀體對地面環境做適當的運動以取得足夠的前進力,而靠近頭的身體多在探試環境以及帶領後面身體為主,尾巴則是跟隨身體的軌跡移動。 本論文主要的研究在探討蛇行運動的運動方式以及其面對地面環境所做的變化。期望在未來的研究中能對於蛇行運動的運動方式有更深入的探討,並且能將其運動演化上的優勢應用在工程領域之中。 | zh_TW |
dc.description.abstract | Recently, robotics has become an important research in various domains, and bio-mimetic is a very interesting part of robotics. Bio-mimetic gains its popularity in many different fields. It is interesting to find the rules of the world and applying in engineering. In nature, different locomotion is used by many different animals. The snake crawling motion is studied in this thesis to understand its locomotion principles and the difference to adapt the change of environment.
The thesis consists of two parts. The first one is to take the image data from snake videos, and the second part is to analyze the trend of motion in different environment. From our observations, the swing of snake’s forward part is smaller than the other part when snake serpentines. The swings of snake’s body are not the same when snake serpentines on different ground. It means snakes get enough forward force from the middle part of body, the forward part of snake explores the environment, and the tail of snake just follow the body curve. The proposed work of the thesis is to study the serpentine movement of snakes and the change of movement in different environments. When a snake-like robot moves with varying bending angle amplitudes, it has higher speed and consumes lower power. It could be applied the advantages of snakes in engineering field. | en |
dc.description.provenance | Made available in DSpace on 2021-06-14T16:47:31Z (GMT). No. of bitstreams: 1 ntu-97-R95921073-1.pdf: 1302228 bytes, checksum: 2d6d4b7a7c1d4c3e89c36ecae8dde005 (MD5) Previous issue date: 2008 | en |
dc.description.tableofcontents | 致謝 I
摘要 II Abstract III Contents IV List of Figures VI List of Tables IX Symbols X Chapter 1 Introduction 1 1.1 Locomotion of Animals 1 1.2 Introduction to Bio-mimicry 2 1.3 Motivation 5 1.4 Thesis Organization 6 Chapter 2 Snake Locomotion and Robots 8 2.1 Locomotion of Snakes 8 2.1.1 Serpentine Movement 8 2.1.2 Rectilinear Movement 9 2.1.3 Concertina Movement 10 2.1.4 Side-winding Movement 11 2.2 Morphology of Snake Movement 12 2.3 The Kinematics of Snake Motions 18 2.4 Snake-like Robots 19 2.4.1 Active Cord Mechanism 20 2.4.2 Michigan Snake 21 2.4.3 GMD-Snake 22 Chapter 3 Efficiency on Variable Bending Angles for Snake Locomotion 24 3.1 Image Analysis of Snake Locomotion 25 3.2 Analysis from Bending Angle Data 31 3.2.1 Moving on Jigsaw Mats 33 3.2.2 Moving on Door Mats with Protrusion 35 3.2.3 Moving on Door Mats with Poles 36 3.2.4 Observations and Discussions 37 3.3 Experiments with Snake-like Robot 38 3.4 Experimental Results 40 Chapter 4 Conclusions and Future Work 50 Appendix 51 References 55 | |
dc.language.iso | en | |
dc.title | 固定與變動彎曲角度對蛇行運動效率之分析 | zh_TW |
dc.title | Efficiency on Snake Locomotion with Constant and Variable Bending Angles | en |
dc.type | Thesis | |
dc.date.schoolyear | 96-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 顏家鈺,連豊力 | |
dc.subject.keyword | 蛇行運動,蜿蜒爬行,蛇型機械人, | zh_TW |
dc.subject.keyword | snake locomotion,serpentine movement,snake-like robot, | en |
dc.relation.page | 58 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2008-07-31 | |
dc.contributor.author-college | 電機資訊學院 | zh_TW |
dc.contributor.author-dept | 電機工程學研究所 | zh_TW |
顯示於系所單位: | 電機工程學系 |
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