本研究旨在藉由模仿、分析攀爬運動員於壁面凸桿之橫向抓枝動作，開發一具多種運動步態之仿生式橫向抓技機器人，以便增加機器人於壁面抓枝時的靈活度與避障能力。本研究提出兩種連續抓枝運動步態：(1)橫向抓枝步態與(2)橫向擺盪抓枝步態。其中第一種步態是設計適當的肩膀關節馬達驅動邏輯以便帶動手臂進行橫向抓枝移動；後者則是加入了擺盪尾巴累積能量的方式，利用慣性力來完成橫向抓枝移動並獲得較遠的抓技距離。為了滿足上述兩種不同運動步態下的肩膀關節剛性需求，我們自行設計一機械式離合器實現橫向抓枝動作過程中肩膀關節剛性切換動作。由於第二種步態中多了擺盪儲能階段，我們以拉格朗日方程推導機器人於擺盪階段的動態模型並藉由模擬結果設計於後續抓枝過程中之所需高階運動控制策略。一系列的水平抓技實驗結果顯示本研究所設計之機器人可分別完成步態一與步態二的連續抓枝動作，並可視需求自由切換這兩種運動步態。未來將往改良夾爪夾持力以及加入夾爪姿態復歸校正階段這幾個方向改良以便提高機器人在連續攀爬時之強健性。

This thesis presents a bio-inspired multi-locomotion transverse brachiation robot by imitating and analyzing the transverse grasping action of ledge climbers. Based on the analysis of the climbers’ locomotion, we propose two kinds of continuous brachiation locomotion styles: (1) transverse ledge brachiation, and (2) transverse ledge brachiation with swing motion, in which the ultimate goal of this novel robot design is to increase the agility of robot climbing and especially the capability of overcoming ledge-like obstacles on the wall. The working principle of the first locomotion is to actuate the shoulder joint motors with designed ON/OFF actuation logic flows for transverse brachiation. Comparing to the first locomotion, the latter locomotion is more complicated by adding swing motion to accumulate more energy and take advantage of inertial force for larger distance brachiation. In this study, a self-made mechanical clutch design is applied to facilitate the needs of stiffness change in shoulder joints for these two different locomotion styles. For the second locomotion, we apply the Lagrange method to derive the robot dynamics during the swing phase and analyze the swing results to design the locomotion controller based on the movement logic of the first locomotion. A series of transverse brachiation experiments are conducted to verify the feasibility of each locomotion and the potential benefits of switching between these two locomotion styles. Future work will focus on the improvement of gripper holding force and inclusion of gripper posture adjustment phase in the locomotion design for more robust continuous brachiation.

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