橫向抓枝機器人擅長攀附在外牆凸緣上，利用下肢擺盪蓄能及特殊設計的步態，在凸起物上實現橫向移動。過去已有多種不同類型的橫向抓枝機器人被提出，然而它們面臨一致的挑戰─無法自主修正姿態偏轉，這導致飛躍抓枝運動著陸失敗或墜落，以及無法實現連續兩個以上的橫向抓枝循環。為解決此問題，本研究透過簡化橫向抓枝機器人模型並分析其動態方程式，深刻了解到橫向抓枝機器人必定得與偏轉現象共存，因此，本文提出具反作用輪姿態補償系統的橫向抓枝機器人構型，同時為此機器人設計連續橫向抓枝步態及橫向飛躍步態。連續橫向抓枝步態著重於循環與循環間的能量延續，透過能量在循環間延續，使運動更順暢及有效率。本研究藉由將此步態分為上、下肢步態，上肢於適當的時機依序探出右手及左手使機器人持續地移動，下肢則負責擺盪提供連續移動的能量，並適時稍作停頓協調整體運動節奏。藉由上、下肢各司其職的工作，達成此細膩的連續抓枝步態。而橫向飛躍抓枝步態則使用最佳化方法找到最佳的關節軌跡，使機器人能飛躍最遠的距離。當然以上運動步態皆設計相對應的姿態補償策略，使得連續橫向抓枝步態雙爪能持續依附在桿件上，且橫向飛躍步態能夠安全著陸。最終透過模擬結果顯示，本研究提出的反作用輪姿態補償系統在橫向連續抓枝步態和橫向飛躍步態皆呈現明顯的姿態修正效果，此外在橫向連續抓枝運動中，能量能夠有效延續在循環之間。以上步態設計方法及姿態補正系統為未來橫向抓枝機器人研究提供了優良的參考基礎。

Transverse brachiation robots (TBR) belong to the category of bio-inspired robots which utilize the swinging motion of their lower limbs to realize transverse movement by alternatively grasping and releasing the ledges on the vertical walls. Various types of transverse brachiation robots have been proposed to investigate the potential benefits of this unique locomotion; however, due to the ledge grasping constraints they all face a unsolved challenge in which conventional monkey-inspired brachiation robots do not have. According to the previous findings, there exist inevitably posture deviations during each brachiation cycle, easily leading to failed brachiation landings and impeding energy accumulation to achieve continuous transverse brachiation for more than two cycles. This study first simplifies the dynamic model of multi-link transverse brachiation robots and applies the linearized dynamics to justify the problem of gripping deviation caused by swing motion. This study then proposes a TBR configuration embedded with reactive wheels as active posture compensation system to design new locomotion styles for continuous transverse brachiation and ricochetal brachiation. To realize smooth and efficient energy transfer between brachiation cycles, this study specifically classifies the robot gait into upper and lower limb movements for better coordination. The upper limbs are designed to alternatively extend both hands at appropriate timings to grasp the ledges with forward movement, while the lower limbs are equipped with both continuous oscillation and intermittent pauses to coordinate the overall movement rhythm. The joint motion trajectories required for transverse ricochetal brachiation are obtained through an optimization procedure to facilitate the leaping behavior and hand-eye coordination. Active posture compensation strategies are designed to ensure steady gripping during the whole locomotion and safe landing at the end of each brachiation cycle. Simulation results demonstrate the effectiveness of the designed upper-lower limb coordination strategies and proposed reactive wheel attitude compensation system. After including the issue of gripping deviation into locomotion control design, sufficient energies can now be efficiently reserved from the previous locomotion cycles to ensure desired smooth movements in the succeeding cycles. The locomotion design and posture compensation methods presented in this thesis provide a solid reference for future research on transverse brachiation robots.

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