結合雙自由度輪足模組之四足機器人及其足部混合控制與全身力補償控制之開發

Abstract

近年來，機器人的應用範疇不斷擴大，並在醫療、智慧倉儲、物流、製造……等等領域扮演著重要的角色。而足類機器人又是機器人領域之中的一項熱門的研究主題。而對於「足」這個機構來說，便是大自然透過物競天擇所篩選出最佳化的移動方式，使透過足運動的生物能夠面對大自然中充挑戰的未知地形；而對於「輪」這個構型來說，便是人類歷史上的一項重大發明之一，使物體能夠快速且有效率地穿越平坦的地形，並對交通運輸有著重要的影響。 在本研究中，將基於實驗室過往所開發之新型連桿式輪足複合機構作為四足機器人的足部，以開發一台同時兼具「足」與「輪」優點之新型輪足複合機器人。本研究將首先介紹四足機器人之機構設計，其中包含輪足機構之強化與輕量化、轉向機構系統、馬達傳動模組及機身設計。此外，為了得到更準確的輸出扭矩，本研究將針對傳動機構中的致動器與皮帶輪轉動系統進行特性量測及建模。而對於機器人的控制器來說，本研究將透過所提出的單足混合控制架構，使輪足機構具備虛擬的被動元件，以減緩足部末端點與外界環境接觸產生的衝擊。最後，本研究將透過機身力補償控制器，使四足機器人能夠達成精確軌跡追蹤且平穩之行走步態，並透過與單足混合控制架構結合，以增強機器人的運動能力及在各種環境和應用中的適應性。

In recent years, the scope of robot applications has been expanding, and robots play important roles in various fields such as healthcare, smart warehousing, logistics, manufacturing, and more. Among the research topics in the field of robotics, quadruped robots are one of the most popular topics. For the "leg" mechanism, the most optimized methods of movement chosen by mother nature, allowing living creature to navigate terrains filled with challenges and uncertainties. On the other hand, the invention of the "wheel" has been a major milestone in human history, enabling efficient and rapid traversal of flat terrains and significantly impacting transportation systems. In this study, a novel linkage-based leg-wheel mechanism, developed in the laboratory, is employed as the leg component to create a new quadruped robot that combines the advantages of both legs and wheels. The research begins by introducing the mechanical design of the quadruped robot, which includes the reinforcement and lightweight design of the leg-wheel mechanism, steering mechanism, motor drive module, and body design. Additionally, to achieve more accurate output torque, this study conducts measurement and modeling of the actuator and pulley system in the transmission mechanism. Regarding the robot's controller, a proposed single-leg hybrid control architecture is employed to provide the leg-wheel mechanism with virtual passive elements, which helps mitigate the impacts generated when the end-effector interacts with the external environment. Finally, by utilizing the whole body force compensation controller, the quadruped robot achieves precise trajectory tracking and stable walking gaits. Additionally, by integrating this controller with the proposed single-leg hybrid control architecture, the robot's locomotion capabilities is enhanced, allowing for greater adaptability in various environments and applications.