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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 周瑞仁(Jui-jen Chou) | |
| dc.contributor.author | Wei Chen | en |
| dc.contributor.author | 陳瑋 | zh_TW |
| dc.date.accessioned | 2021-06-15T04:32:16Z | - |
| dc.date.available | 2009-08-21 | |
| dc.date.copyright | 2009-08-21 | |
| dc.date.issued | 2009 | |
| dc.date.submitted | 2009-08-19 | |
| dc.identifier.citation | References
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/45643 | - |
| dc.description.abstract | 本研究針對pitch-yaw串接型機器蛇，利用中樞模式產生器(CPG)模型產生可微分步態，就機器蛇各關節的座標與接地點之變化進行模擬及分析，找出各種不同步態接地點的移動與模型參數之關係，並進一步實現於機器蛇上。所分析與實作於機器蛇上的六種步態分別為直線步態、轉彎步態、滑動步態、側向平移步態、旋轉步態和滾動步態。使用中樞模式產生器模型來實現機器蛇之步態有以下優點：可簡化控制演算法、提升運算速度、產生順暢的動作等。本研究針對串接型機器蛇的長度與節數提出一套旋轉步態之參數設定規則，最後並提出一套機器蛇各種步態參數設定的流程，使能系統而有效地產生機器蛇的步態。 | zh_TW |
| dc.description.abstract | The purpose of this paper is to implement differentiable gaits of pitch-yaw connecting snake robots through investigating the coordinates of each joints and the motion of ground points based on the central pattern generator (CPG) model. Six different gaits, i.e., rectilinear, turning, slithering, lateral shift, rotating and rolling gaits, have been analyzed and implemented on a real snake robot, which consists of 16 joints. Using CPG model to implement the gaits of snake robots can simplify thecontrol, accelerate the computational speed and smooth the movements. A new rule for the parameter setting of rotating gait was proposed for snake robots with different length and different number of joints. Finally, a procedure for the gaits determination of those differentiable gaits, based on CPG, has been developed. Thus the gaits of snake robots can be generated more systematically and efficiently. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T04:32:16Z (GMT). No. of bitstreams: 1 ntu-98-R96631034-1.pdf: 2255026 bytes, checksum: 32debbb5434458fb1f2a3964725e543e (MD5) Previous issue date: 2009 | en |
| dc.description.tableofcontents | 論文口試委員審定書 i
誌謝 …….. ii 摘要 .…… iii Abstract….. iv Table of Contents.. v Figures …... viii Tables……. xii List of symbols ……. xiii Chapter 1 Introduction 1 Chapter 2 Literature Review 3 2.1 Classification of modular robots and snake robots 4 2.2 Sinusoidal CPGs model 7 2.3 Gaits of snake robots 11 2.3.1 Rectilinear gait 13 2.3.2 Turning gaits 16 2.3.3 Lateral shift gait 16 2.3.4 Rotating gait 17 2.3.5 Slithering gait 18 2.3.6 Rolling gait 18 Chapter 3 Materials and Methods 20 3.1 Two CPG models for snake robots 20 3.2 Analysis of body shapes and ground points 27 3.2.1 Coordinates of body shape 28 3.2.2 Motion analysis of ground points 32 3.3 Analysis and development of differentiable gaits 39 3.3.1 Rectilinear gait 39 3.3.2 Turning gaits 40 3.3.3 Slithering gait 41 3.3.4 Lateral shift gait 42 3.3.5 Rotating gait 43 3.4 Experimental snake robot 46 Chapter 4 Results and Discussion 48 4.1 Implementation of differentiable gaits for snake robot 48 4.1.1 Rectilinear gait 48 4.1.1.1 Simple rectilinear gait 48 4.1.1.2 S shape rectilinear gait 49 4.1.1.3 Double- shape rectilinear gait 51 4.1.2 Turning gait 53 4.1.3 Slithering gait 55 4.1.4 Lateral shift gait 59 4.1.5 Rotating gait 62 4.1.6 Rolling gait 66 4.2 Gaits determination of the snake robot 69 Chapter 5 Conclutions 72 References 73 | |
| dc.language.iso | en | |
| dc.subject | 旋轉步態 | zh_TW |
| dc.subject | 機器蛇 | zh_TW |
| dc.subject | 中樞模式產生器模型 | zh_TW |
| dc.subject | 可微分步態 | zh_TW |
| dc.subject | Central pattern generator (CPG) | en |
| dc.subject | Rotating gait | en |
| dc.subject | Differential gait | en |
| dc.subject | Snake robot | en |
| dc.title | 利用接地點運動分析與實現機器蛇之CPG可微分步態 | zh_TW |
| dc.title | Analysis and Implementation of CPG Differentiable Gaits of Snake Robots based on the Motion of Ground Points | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 97-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 萬一怒(Ye-Nu Wan),林達德(Ta-Te Lin),艾群(Chyung Ay),黃緒哲(Shiuh-Jer Huang) | |
| dc.subject.keyword | 機器蛇,中樞模式產生器模型,可微分步態,旋轉步態, | zh_TW |
| dc.subject.keyword | Snake robot,Central pattern generator (CPG),Differential gait,Rotating gait, | en |
| dc.relation.page | 77 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2009-08-19 | |
| dc.contributor.author-college | 生物資源暨農學院 | zh_TW |
| dc.contributor.author-dept | 生物產業機電工程學研究所 | zh_TW |
| 顯示於系所單位： | 生物機電工程學系 | |
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