本實驗室針對臺灣建築外牆特徵所開發之攀爬機器人已完成諸多運動步態開發與原型機測試，主要以橫向抓枝與飛躍抓枝兩種具代表性的運動方式進行機器人設計與實作探討。然而，因複雜手眼協調的特性，到目前為止仍然很少有與飛躍抓枝運動步態實現相關的研究，且能同時實現上述兩種運動步態的機器人開發設計更是少之又少。本研究特別分析運動員於牆面時的橫向凸桿抓握移動行為，將其分成四個運動階段：擺盪階段、順勢抓握階段、姿態轉換階段、手臂復歸階段；而飛躍抓枝則是將姿態轉換階段替換為雙手釋放階段，使系統完全釋放慣性以利提升移動性能。為了使機器人具備連續移動的能力，本研究藉由模擬分析在各階段間不同操作參數與切換條件下對於後續運動階段動態影響，並以手臂復歸階段的末狀態維持平行四連桿姿態進行運動規劃，使機器人能順暢轉換各階段並提高能量累積效率。實驗結果證實本研究設計之多種運動步態階可達成階段間的能量延續，並可進行兩個運動週期的連續移動；而成功實現的飛躍抓枝結果亦證實本研究所提設計步態可行性。最後，本研究基於前一個運動週期的最終運動姿態提出一評估指標，用於預測下一個運動週期步態實現成功的判斷依據，並可作為後續運動步態設計改良的參考。

Recently transverse brachiation robots have been developed to perform ledge climbing tasks on the wall of buildings in Taiwan. Just like conventional brachiation robots inspired from primates, the locomotion of transverse brachiation also consists of two representative styles. The first one realizes succeeding transverse movements by alternatively releasing one hand and swinging the lower limb to grab the target ledge under a system constraint that one hand is always holding on the ledge. The second style on the other hand, includes a flight phase into the locomotive cycle to realize the so called “ricochetal brachiation”. However, due to the complicated dynamics in hand-eye coordination there is still very limited research on the implementation of ricochetal brachiation and very few studies have been discussed on the development of multi-locomotion brachiation robot which can realize the above two locomotion styles. This study analyzes the transverse movement of sport climbers to propose new robot locomotion for transverse brachiation. The first elementary locomotion is classified into four phases for discussion: swing phase, target approaching phase, transition phase, and hand back-off phase. The locomotion of transverse ricochetal brachiation applies a similar design procedure but replaces the two-hand release phase with the transition phase to entirely release the system energy for further brachiation performance improvement. In this work, a design procedure that applies a parallel four-link posture constraint at the hand back-off phase is proposed to analyze the effects of phase switching conditions within each phase and derive suitable robot joint motion trajectories to coordinate smooth transition between classified phases and energy continuation. The experimental results confirm that the designed first locomotion successfully achieves energy continuation between classified phases and can perform two consecutive locomotive cycles. Moreover, the locomotion of ricochetal brachiation truly shows a better movement efficiency compared with the brachiation without including a flight phase. Finally, an evaluation index dependent on the posture at the back-off phase is proposed to predict the success rate of the next locomotive cycle, which can be treated as a comparison basis for the improvement of subsequent robot locomotion design.

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