由日本知名節目「極限體能王」中所獲得之靈感，本研究將設計製作一創新仿生式機器人，重現節目中之動作，期望未來可應用於壁面移動型機器人中，以增加此類機器人的機動性。於該關卡中選手在闖盪該關卡時，因無法用單手抓到較遠之桿子，故會在當前的桿子上，擺盪身體來增加慣性力，待慣性力H足夠後再一躍而出，此動作是橫向的長距離移動，且好似於牆面上跳躍，且此，因此本研究將其稱作「橫向跳躍」。本研究所探討之動作，原理相當類似猿猴在樹與樹枝間的移動方式，當樹枝較遠，猿猴亦會在當前枝椏擺盪一段時間後，再鬆手飛躍，以達到長距離的移動目的。若要完成橫向跳躍這一動作，需探討三個重要的課題，其一，如何擺盪會使機器人獲得最大的慣性力，機器人放手時會較高的飛行速度；其二，何時鬆手可使機器人有好的脫離角度，機器人方手時會有較好的飛行距離；其三，如何穩定滯空時機器人的姿態，使機器人可以穩定的抓到較遠的桿子。在仿生機器人設計上，本研究將會利用ADAMS仿真模擬軟體確認機器人機構之可行性，及尋找機器人最佳的擺盪方式， 並和動力學推導之機器人擺盪頻率相互比較，以確認數值之準確性，最後，將會利用實際製作之機器人比較理論值之差異，並驗證所發展之機器人效能。

This thesis presents an innovative bio-inspired robot design which is capable of performing transverse-jumping motion as shown in a famous Japanese entertainment TV show called “Sasuke.” The goal of this research is to explore the maneuverability of climbing robots and its applications. The primary challenges of such kind of robot design can be interpreted by watching this unique jumping motion from the TV show. In one specific mission, the athletes are asked to move between two rails which are separated by a distanced gap. Because the gap distance is too far for athletes to hold the other rail by solely using one arm, they need to swing their bodies for producing enough inertial forces and then hold the other rail followed by such special jumping motion. In the study this movement is referred to as “Transverse Jumping” due to its transversely overpassing the gap in the air. The idea of this movement is similar to the swinging motion of an ape but shows a different locomotion style. To let the designed robot capable of this jumping, there are three key issues to be considered. The first issue includes investigation of proper swinging motion so as to generate enough inertial forces and flying speed after releasing the hand. Secondly, the optimal hand-releasing timing is also an important factor determining the flying distance. Moreover, the airborne robot posture should be properly designed and adjusted to assure that the robot can correctly hold the other distanced rail after the flying phase. This study applies ADAMS software to verify the designed mechanism and analyze the robot swinging frequency for jumping. The determined swinging frequency is verified by the calculated results using a simplified robot dynamic model. In experiments, two motor control strategies are proposed to enlarge the swing angle of the robot. The jumping experiments demonstrate the feasibility of the proposed robot design.

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