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研究生：	陳宗義 Chen, Zong-Yi
論文名稱：	六足機器人之步態研究與實現 The Gait Study and Implementation of a Hexapod Robot
指導教授：	王榮泰 Wang, Rong-Tyai
學位類別：	碩士 Master
系所名稱：	工學院 - 工程科學系 Department of Engineering Science
論文出版年：	2011
畢業學年度：	99
語文別：	中文
論文頁數：	81
中文關鍵詞：	六足機器人、越障、階梯、機器人步態
外文關鍵詞：	Hexapod robot, Obstacle, Stairs, Robot gait
相關次數：	點閱：131 下載：17
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本論文主要是設計一個六足機器人並且達到在未知環境當中使機器人行走順暢，為了達到這個目的，必須在機器人設計偵測模式系統，才能使得機器人在環境參數不齊全之空間中，可以透過偵測模式探測來改變六足機器人之行走模式，以達到行走順暢之功效與便利。

六足機器人設立一個六足移動平台並且設立兩個紅外線作為判斷機制，透過兩個紅外線作為偵測距離的門檻值，來抉擇選用行走模式或者是爬樓梯模式，而主要使用三組單晶片PIC16F877 作為控制晶片，我們可以透過無線模組當作啟動開關或者為緊急開關，六足機器人是由六顆直流馬達驅動並且配合觸碰開關來達到角度誤差之調整。

在實際環境下的實驗中，驗證所提方法之實用性，透過紅外線模組與觸碰開關，來解決在未知環境的情況上，面對未知地面與障礙而無法順利行走之功能。

The purpose of this thesis is to design a hexapod robot which can walk smoothly in unknown environments. In order to achieve this purpose, detective functions should be added, to let hexapod robot walk smoothly in space that lacks environmental parameter. Also allow mode changing of hexapod robot through detective mode to make the robot walk smoothly.

In order to implement hexapod robot system, a platform is designed as a hexapod and two infrared ray sensors were set. The two infrared ray sensors are used to determine the walking mode or climbing mode by a threshold value. The three control chips PIC16F877 is used. The wireless module is used to be a switch for emergency alert or to start the system. In this thesis, the six DC motors are used to drive the hexapod robot and the touch sensor is used to adjust the angle error.

The practicality with the experiment is confirmed in real environment. This thesis proposed the method to solve the issue where robots cannot walk smoothly in unknown environment and obstacles, by implementing the infrared ray module and touch switch.

中文摘要.....................................................I
Abstract.....................................................II
致謝..........................................................III
目錄.......................................................IVV
圖目錄......................................................VI
表目錄.......................................................X
第一章 緒論................................................1
1.1研究背景與動機......................................1
1.2研究目的................................................3
1.3文獻回顧................................................4
1.4論文架構..............................................18
第二章 六足機器人系統之整體架構..............19
2.1 六足機器人整體系統架構簡介................19
2.2 六足機器人硬體架構與功能介紹.............21
2.2.1 車體部分...........................................23
2.2.2 控制核心...........................................26
2.2.3 PIC16F873 簡介................................29
2.2.4 電壓整流器........................................31
2.2.5 鎳鎘電池...........................................32
2.2.6 有刷直流馬達.....................................33
2.2.7 直流馬達驅動晶片..............................35
2.2.8 無線模組...........................................37
2.2.9 特殊的足部機構.................................38
第三章 六足機器人控制系統........................43
3.1足部位置回授控制..................................44
3.2馬達煞車與角度較正...............................45
3.3直線校正系統.........................................47
3.4轉彎系統................................................50
3.5馬達系統................................................52
第四章 實驗與結果......................................56
4.1 六足機器人之上階梯實驗........................56
4.2 六足機器人之車體移動...........................65
4.2.1 草地實驗............................................65
4.2.2 沙地實驗............................................67
4.2.3 沙灘實驗............................................68
4.2.4 螺旋斜坡實驗.....................................70
4.2.5 下階梯實驗........................................71
4.2.6 轉彎實驗...........................................73
第五章 結論與未來展望...............................74
 5.1 結論.....................................................74
 5.2 未來展望..............................................74
 參考文獻....................................................76
 自述...........................................................81

                                    

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