| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 97 === This thesis is focused on the development of a novel leg-wheel hybrid mobile platform named "Quattroped". The platform is capable of moving like a wheeled platform as well as a legged one.In the wheel mode, the locomotion behavior of this platform is similar to that of a normal 4-wheel-driven vehicle which can run fast and efficiently on the flat terrain. In contrast, the legged mode is superior in crossing various uneven terrains (such as rough ground, obstacles, stair, and etc) via coordination of four high degree-of-freedom (DOF) legs. Comparing to most hybrid platforms which have separate mechanisms of wheels and legs, this robot is implemented with a transformation mechanism which directly changes the morphology of wheels (i.e. a full circle) into two DOF legs (i.e. combining two half-circles as a leg). Various aspects of details required to construct the platform are introduced, including conceptual design, mechanism design, mechatronics, software infrastructure, and system integration. In addition, some experiment results are also reported to verify the validity of design of this platform.
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