摘要
橫向飛躍握桿是一種模仿運動員以手指抓持突出壁面之橫桿的方式反覆擺盪後飛躍並抓握目標桿的特殊動作。本論文主要在探討本實驗室所開發之第二代與第三代橫向飛躍抓技機器人系統設計與運動控制效能。在機構設計部分，我們以參數最佳化方式求得滿足目標飛躍距離的機構參數與重量配置。為了在擺盪階段能以單獨擺盪尾巴的方式進行系統激振，我們以電磁離合器實現手臂的可變剛性切換並設計一具急放功能的仿人式電動夾爪使其提供足夠夾持力，藉此完成擺盪階段的能量累積並切換至飛躍階段。系統激振所需之尾巴參考輸入亦為根據機器人擺盪階段動態模型以最佳化方式求得。為了改善機器人在滯空飛躍因身軀旋轉造成的影響，本研究以推導之滯空動態模型分別探討以開迴路姿態補償與閉迴路姿態補償對於機器人身軀姿態調整的效果。模擬與實驗結果皆證實使用閉迴路身軀姿態補償可有效改善飛行姿態與飛躍距離，結合合適之手臂擺動策略則可獲得最理想之飛躍距離與著陸成功率。

Abstract
Transverse ricochetal brachiation is a unique locomotion style that mimics the sport players to swing their bodies with hands held on the ledges on the wall and then release their hands to fly and grab the targeted ledge. This thesis aims to present the development and motion control of second and third generation of transverse ricochetal brachiation robots (TRBR). For the mechanism part, the design parameters are obtained by formulating an optimization method with the goal of reaching maximum flying distance. A variable stiffness design equipped with electromagnets is applied to implement the mechanical resonance excitation by solely swinging the designed tail during swing phase and enable tight arm-and-body engagement during flying phase. Particularly, the electrically driven anthropomorphic grippers are designed to satisfy the required holding forces and quick-releasing functionality so that the kinetic energy accumulated during swing phase can be smoothly transferred to the flying phase for desired locomotive behaviors. The reference trajectory of the robot tail for resonance excitation is obtained through an optimization method based on the dynamic model during swing phase. The dynamic model during flying phase is derived to elucidate the effects of midair body rotation and applied to develop various kinds of body posture compensation methods for deeper investigation. Simulation and experiments demonstrate that the proposed body posture compensation method based on the successive loop closure design can effectively improve the flying posture and traveled distance. Moreover, the proper integration of arm swing motion strategy can achieve the largest flying distance and highest success rate of robot landing.

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