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技術名稱
Project name
多地形上輪腳複合移動載台
A leg-wheel transformable mobile platform
計畫單位
Project Operator
國立臺灣大學
National Taiwan University
展區位置
Booth location
AI智慧應用&電子&光電
AI Intelligent Appliance & Electronics & optoelectronics
技術說明
Technology Introduction
一個可在室內外、自然或人造環境中移動的基礎載台,其上可依需求與應用來架設感測器(偵檢設備)或機械手臂(操作設備)。
技術包含:
1. 創新輪腳複合機構設計,搭配仿生控制架構,使平台可在移動運行中圓滑順暢的切換不同運動模式(輪模式、腳trotting、腳walking、爬階、爬樓梯等),以達到穿越人造或自然中不同崎嶇地形的需求。
2.具備日夜間環境偵測功能,並智慧自主進行運動模式切換與行進方向選擇。

A fundamental mobile platform, which can get adapt to various terrains, such as indoor, outdoor, natural and artificial environments, is presented. Moreover, applications of the platform could be extended by installing sensors (sensing device) or manipulators (operating device) depends on the requirements.
The techniques included are as follows:
1. The innovative leg–wheel transformable mechanism is designed and this system is equipped with bio-inspired control architecture. This approach enables the platform to switch from one mode to another (wheel rolling, leg trotting, leg walking, leg step climbing, etc.) while moving on the environments, which is a mixture of natural surfaces and artificial surfaces.
2. The system is able to detect environments at nighttime. In addition, this function enables the system to switch to different operating modes and select an optimal moving direction automatically.
科學突破性
Scientific Innovation
本技術於國際間機器人界中立足的特色為:
1.創新的輪腳複合設計,使機器人在輪模式和腳模式均由同一組驅動系統帶動,減少機器人結構與系統的體積重量和複雜度
2.以單一中控的仿生控制架構來達到各模式的驅動和切換,可簡化控制系統,也可使運動過程不因模式變換而需先終止再啟動
3.可在多種地形上快速和動態的運動

The techniques that make the mobile platform is unique to the international robotics area are stated as below:
1. The innovative leg–wheel transformable mechanism, which makes the system on platform is simplified.
2. By using central bio-inspired control system, the control system can be streamlined.
3. The platform performed is capable of agile and robust motion on multiple kinds of surfaces.
產業應用性
Industrial application
本技術建構一個可在多地形上運行的「基礎載台」,可依各類型室內外需求在其上架設感測器(偵檢設備)或機械手臂(操作設備)。

The techniques presented construct a mobile platform, which can get adapt to various terrains. Furthermore, the function of platform could be extended by installing sensors (sensing device) or manipulators (operating device) depends on the requirements.
聯絡人
Contact Person
王昱文
電子信箱
Mail