具快速變換與跳躍能力之輪腳模組開發

Abstract

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.