近年來機械人的應用已不再拘限於工廠的環境，各方面應用的機械人不斷問世，如清潔機械人、探索機械人、導覽機械人與教學機械人等。它們協助或取代人類進行許多事務性或高危險的作業，不僅有效提升工作的效率，更可降低傷亡的發生，使我們的生活更加便利也更加安全。
智慧型機械人的發展快速，其應用的領域更是包羅萬象。雖然目前市面有需多商品化的機械人產品，不過在其應用上仍有許多受限的地方，其主要原因為技術上仍有許多尚待克服的瓶頸，其中克服樓層障礙便是其中一項很重要的研究。智慧型機械人如具備克服樓層障礙的能力將可大幅提升機械人應用的層面，使機械人可以更貼近我們的生活領域，協助我們進行更多一般事務性的作業。
本文的研究目的在於整合機械人技術現有成果與資源，以較低的製造成本，實現智慧型機械人克服樓層障礙的能力。透過製造成本的減少與克服樓層障礙能力的實現，使智慧型機械人在未來的應用上能更加的全面也更具商業上的競爭力。

Recently, the use of the technology of robots is no longer limited in factories. There are many robots continuously invented and used on various fields, for example, cleaning robot, detecting robot, guiding robot, training robot and so on. With robot’s latest technologies, a lot of dangerous tasks or simple routines of human being could be replaced by different robots. Using robots not only improves the efficiency of works but also increases the safety of working environment.
The applications of robot technology have been rapidly demanded. Although there are numerous products of commercial robots, the applications are still restricted. The major reasons might be due to some the bottleneck of current technologies. For example, solving the problem of climbing obstructions is one of the most important researches of robot. Intelligent robots with the ability to climb obstructions will significantly expand the fields and level of their applications and robots could be more widely used on regular works.
The goal of the research is mainly focused on the integration of current resource and accomplishment in robot technologies to construct intelligent robots with the ability to climb obstructions based on inexpensive off the shelf parts. With that ability, the usage of intelligent robots will be more comprehensive and competitive in the future.

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