本研究針對台灣住宅外牆為目標開發可於壁面移動的機器人，在台灣的住宅外牆時常可見到窗台、雨遮、遮雨棚及屋簷等多樣化的設施，這些外牆的凸起物對於大部分的爬壁機器人來說是必須克服的障礙物，為此我們提出以攀岩者於壁面橫向攀爬的運動模式為基礎結合極限運動員抓枝動作開發特殊的移動方式使這些障礙物成為機器人移動的助力。本研究透過模仿攀岩者於壁面橫向攀爬的攀附方式設計可抓握壁面凸器物的夾持機構，並藉由分析極限運動員的抓枝動作建立一連串的動作流程為機器人設計橫向抓枝運動控制器。本研究以雙臂及身軀結合下肢為基本架構設計攀爬機器人，為了達成抓枝動作我們於夾持機構與手臂之間設計一特殊的手腕關節，使其在擺盪階段可利用其欠驅動特性擺盪下肢累積動能使整個系統擺幅逐漸加大，同時配合手臂動作來達到抓枝移動的目的。本研究參考戶外常見之壁面環境設計機器人攀爬實驗場景驗證所設計機器人及運動控制器的可行性，實驗結果顯示所開發之機器人不僅可成功抓握具間隔之同水平高度凸起物，亦能抓握具有高度落差的凸起物。

This thesis presents a transverse brachiation robot which could be applied to Taiwan's residential exterior wall-climbing applications. There is a variety of ledges which are commonly attached to Taiwan's residential exterior wall including windowsills, awning, eaves, and so on. However, most of the existing wall-climbing robots all suffer from these ledges treated as obstacles. In this research, we refer to special locomotion of extreme athletes in which they swing their bodies and grab the consecutive ledges on the wall to move forward transversely, i.e., transverse brachiation. This study designs a novel gripper which can hold on the ledge on the wall by mimicking the grabbing motion of the rock-climbers and analyzes the athlete's unique brachiation locomotion to establish a series of motion flow and design a locomotion controller suitable for such transverse brachiation. We design a brachiation robot which combines a body with two arms and a tail and particularly designs a robot wrist joint between gripper and arm so that we can swing the robot tail smoothly and accumulate the system energy using the under-actuated property of designed wrist at the swing phase. The robot is then swung up repetitively with the coordination of two arms for grabbing the targeted ledge. For experiments, we set up testing scenarios with Aluminum extrusion bars to verify the feasibility of the developed robot and locomotion control strategies. The experimental results reveal that the developed robot can successfully grab the targeted ledge at the same height as well as a ledge with different heights.

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