魔鬼氈模組式機器人之設計與動作控制

Design and Motion Control of the Velcro Strap Modular Robot

許銘全(Shiu-Ming Chiuan)；賈炎叡(Yen-Jui Chia)

模組式機器人 ； 自我識別 ； 運動分析 ； modular robot ； self-recognition ； motion analysis

修平學報

32期（2016 / 03 / 01）

47 - 64

繁體中文

本文主要介紹使用魔鬼氈來連接的模組式機器人之硬體設計以及運動分析。主要討論模組機構的設計，並透過使用光學感測器作為連接面的感測來自我識別判斷出所組台出的形狀以結合預先規劃好的運動規劃來達到所希望的動作。這種自我識別模組式機器人能夠透過組台的方式改變它的外形，當多個同型的模組進行組台與台作時，可以符合不同的工作環境的需求。當模組與模組連接時，透過模組式機器人自我識別來對應資料庫中的機器人運動程式，透過動作規劃我們便可得到可行的運動方式。最後，我們將展示一些實驗結果來顯示魔鬼氈模組式機器人有令人滿意的性能。

A Modular robot is made of a set of robotic modules with the ability to change the shape by having cooperation among the multiple robot modules. In this thesis, we developed two generations of modular robots, called Velcro Strap Modular Robot (VS-MR). In the modular robots, they comprise several modules individually with actuators controlled by their own on-board processing units, and these individual modules have the basic motion capability and control functions. And, the optical sensors mounted on the connected faces of the VS-MR can provide the relative position information for self-recognition. In this paper, we address the issues about module’s design, motion analysis, sensing structure, and reconfiguration. In the experimental results, a single module had the basic motion capability. Based on the robotic module, the modular robot can be formed by a set of robotic modules with the ability to change the shape by letting the multiple robot modules cooperate. Furthermore, some experimental results are demonstrated to show the effectiveness of the Velcro strap modular robot with satisfactory performances.

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