橫向抓技機器人為將壁面凸起的障礙物視為抓握目標進行橫向攀爬移動、具備高靈活度與避障能力等優點的一種仿生機器人，主要用於取代在現今城市中建築外牆、高空等人力作業。本研究針對壁面上水平且連續的凸起物環境，針對二連桿抓技機器人提出二種橫向抓枝運動步態設計，分別為橫向單調抓枝與橫向非單調抓枝。本研究首先利用下肢連桿來回擺盪的過程累積系統能量，當能量足夠時則翻轉身體進行抓握，以此設計第一種運動步態─橫向單調抓技。若快速移動為動作主要需求時，本研究則參考猿猴在樹林間快速穿梭的動作加入短暫的滯空飛行步態，使機器人在準備抓握目標物的同時一併釋放掉原先固定在凸起物上的夾爪，以便系統能量轉移更快速有效率，此步態稱為橫向非單調抓技。然而橫向抓技機器人於抓握或滯空著陸階段時，其夾爪與抓附物之間皆會發生碰撞的情況，進而大幅影響機器人抓枝動態與抓握成功率。在考量能量累積與碰撞緩衝需求下，本研究以可變剛性致動器作為機器人連桿關節之致動器並以串接彈性致動器作為夾爪關節致動器，針對此系統於擺盪階段設計連
桿關節剛性切換策略、並於著陸階段時輔以夾爪關節阻抗位置控制，由模擬結果證實採用上述致動架構可節省抓技機器人能量損耗並有效減少碰撞時的緩衝效應。此外，藉由比較橫向單調抓枝和橫向非單調抓枝動作過程能量變化趨勢與關節致動器耗能結果，本研究成功證實所提之橫向非單調抓技運動步態可有效達成能量延續的目標，提供未來橫向凸桿攀爬機器人設計實現一個良好的參考依據。

Transverse brachiation robot is an interesting bio-inspired robot which mimics the locomotion of human ledge climber to perform transverse movements by treating the ledges on the wall as grabbing targets. This special robot with the advantages of high agility and better obstacle avoidance can be applied to replace the dangerous human work such as cleaning or inspection in modern city buildings. This study presents two locomotion styles for a two-link brachiation robot aiming at continuously moving along the horizontal ledges on the wall: transverse monotonic brachiation and transverse non-monotonic brachiation. For the first kind of locomotion, the robot swings the lower limb link repetitively to accumulate enough energy to flip over the body link to grasp the target ledge.
However, this monotonic movement has the constraint of re-storing the system energy at every locomotion cycle, which may be not so energy efficient for continuous brahication. To alleviate this problem and perform nimble movement like bio-primates swinging from tree limb to tree limb using their arms, this study includes the short flight transition into the whole locomotion process so that the robot can release the hand held on the original hand-holding ledge while proceeding to grab the target ledge, making the energy transformation faster and more efficient. This locomotion is referred to as transverse non-monotonic brachiation to distinguish from the first locomotion requiring a monotonic energy storage process. On the other hand, due to the unique behavior of "transverse brachiation", the success of gripper grasping and brachiation performance is highly dependent on the impact dynamics between gripper and hand-holding ledges at each flight landing and grasping phase. The demands of efficient energy storage and impact reduction motivate us to apply a variable stiffness actuator as robot joint actuator to adjust the joint stiffness during the swing phase and two series elastic actuators as gripper claw joint actuators to modulate the force impedance whenever the gripper landing impact occurs. Simulation results demonstrate that the integration of the above compliant actuators into the brachiation robot can reduce the overall energy consumption and the effects of impact dynamics. Comparative results between the proposed two locomotion styles clearly indicate that the locomotion of transverse nonmonotonic brachation is more energy efficient, providing a good reference for robot mechanical design and implementation.

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