爬壁式機器人為地面移動型機器人領域中，已經由眾人拓展多年的分支之一，然而至今依舊無法於業界與市面上有普及的應用，主要原因之一係爬壁式機器人移動方式過於單調，僅能緊緊依附壁面進行移動，行進中一旦遭遇障礙物或未預期之壁面情況時，無法與地面移動型機器人一般，採用跨越或跳躍等方式進行迴避。故本研究欲設計並製造一可於壁面上以跳躍進行移動之機器人，並同時針對機體跳躍後，脫離壁面而無法重新回歸其上之問題提出解法。本研究藉由壁虎甩動尾巴進行滯空時調整自身姿態之概念為基礎，設計並實際製作一利用勾爪進行抓附，得以於軟性或可勾附牆面上進行垂直跳躍並朝上移動之機器人。另外本研究設計之機器人可大略分為兩動力部份：其一為使機器人進行跳躍用之動力機構；另一部份為使機器人滯空時，改變自身姿態以重新抓附壁面之機構，此兩機構使用同一動力源，分別利用傳動系統同時提供動力給兩者。實驗中架設一簡易的垂直壁面與勾附點，並於改變機器人各處參數後，對其跳躍時之姿態做分析與探討，藉此幫助吾人調整機器人跳躍時所需姿態，以利其重新勾附壁面，完成以跳躍方式進行向上移動之目的。

Climbing robot is a type of ground robot which has been studied for many years. However, there are not many related applications found in industries and life societies. One reason for this phenomenon is its monotonic movement behavior where almost all the climbing robots available have to move by consistently attaching to the wall. Unlike some ground robots which can jump over obstacles, traditional climbing robots will easily get stuck once unexpected conditions occur. Therefore, this thesis presented design and implementation of a novel climbing robot which can move vertically by jumping and clawing on a soft material made wall. The study particularly focused on the issue that the robot body might be unable to return back correctly when jumping vertically. The robot is biomimetically designed based on a real gecko, in which its jumping motion contains tail swinging and posture adjustment in the sky. This robotic prototype consists of two primary components sharing the same power source. One is the jumping mechanism and the other is the biomimetic mechanism for balancing and clawing. Torque requirement and design parameters affecting the robot posture in the jumping process were analyzed through a number of jumping tests. The experimental results show that the designed robot can successfully jump and claw on a simple vertical wall and the proposed biomimetic tail can make the robot move back to the wall during the jumping motion.

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