自主式六足滾動機器人之開發;Development of Autonomous Hexapod Rolling Robot

[[abstract]]本論文所建造之機器人為六足型的滾動機器人，這個機器人的中心為一個立體正六邊形，總共有六隻向外伸出的支架，每隻支架上面都安裝著一個伺服馬達，馬達上面都配備著類似圓弧形的外殼，藉由馬達的轉動，使外殼對地面生成一股作用力來產生自轉，來帶動機器人前進，較大的外殼可以使機器人跟地面的接觸面積更大，使馬達對地面產生較大的作用力，也讓機器人在移動或者靜止的時候更為穩定。因為電池本身較重的重量的關係，我們利用這個特點，把電池安裝在第七個伺服馬達上面並且設置在機器人的中心，藉由左右擺動電池來調整機器人的重心，讓機器人的整體重量偏向左邊或者右邊，使機器人可以往某一邊傾斜，來達到轉彎的效果。我們為這個機器人設計了一個閉迴路的控制系統，藉由機器人上面的姿態感測器所回傳的資訊，機器人便可以得知在旋轉的時候，哪兩個面是朝向下方的，如果在旋轉的過程中有外力的阻擋使機器人旋轉失敗，本機器人就可以藉由這個閉迴路控制系統，讓機器人可以持續運轉。我們利用樹梅派來控制機器人，再透過無線網路把樹梅派連接上使用者的行動裝置，我們就可以控制機器人的移動，這樣一來本機器人便可以在許多環境中運作，使我們朝向智慧生活的未來又邁進了一步。 We build a Hexapod Rolling Robot in this thesis. The center of the robot is a hexagon and it totally has six stretched out feet. Every stretch out foot has a servo motor on it. We install an exterior shell at the end of every stretch out foot. The robot will generate a force to the ground when the servo motor rotates. Then the robot will rotate and move forward. The exterior shell can enhance the touching area between the robot and the ground, which can let the robot more stable when either it is moving or it is stopping.We install the battery on a servo motor at the center of the robot. We change the robot’s direction by changing the position of the robot’s center of gravity. When the servo motor is rotating, because of the heavy weight of the battery, the robot’s center of gravity will change; so the robot will turn left or right. We use this special characteristic to control the robot’s direction.We design a closed loop control system for this robot. The robot can know which two sides of the robot are touching the ground right now by using the attitude sensor on it. If there are any forces trying to interrupt the robot when it is rotating, this robot can continue to work by this close loop system.We use the Raspberry Pi to control the robot. We use our mobile device to control the robot through Wi-Fi. That means that this robot can work in many different environments and makes us move a step forward to the smart life