本論文目標在於設計及製作出一台具有高機動性、高適應性的六足機器人，並且利用順向運動學、全方向步態之概念，為此六足機器人，設計出一種「改良之全方向步態」，以及兩種控制器「前進方向控制器」、及「高度控制器」。前進方向控制器乃是控制機器人可以” 改良之全方向步態”達成任何方向前進的目的；高度控制器可以修正機器人各腳的所有馬達角度，使機器人可蹲下穿越低矮通道後，再次恢復原本高度姿態。另外，本機器人某三隻腳裝有輪子，可在平面地形變換為車型機器人，以輪子快速前進。每隻腳底另有圓盤裝置，可讓機器人攀掛於網狀結構前進、轉彎，以通過溝渠或坑道等無法用腳或輪子通過的地形。值得一提的是機器人也可使用四足模式，讓機器人只用四隻腳前進，並由剩餘兩隻腳做出撿拾、放置物品的動作。若有某隻腳故障，此四足模式仍可讓機器人保持行動力。另外機器人背上裝有一部可旋轉攝影機，可以在行進間隨時傳遞機器人所看到的影像資訊給控制中心。基於以上說明，可見此六足機器人能夠以六足、四足、車型、或懸掛四種模式在平面、崎嶇地面、低矮通道及網狀結構上穩定且快速地移動，且可完成撿拾、放置物品，以及傳遞影像等任務。最後經過多次實驗，機器人在四種模式下皆可順利、穩定執行各項功能，也證實此四種模式讓此機器人具有高機動性、高適應性的特點，未來若再改良，應可讓此六足機器人在災難現場發揮其優異勘災或救災功能。

The objective of this study is to design and fabricate a hexapod robot with high mobility and high adaptability. By using forward kinematics and omni-directional gait concept, we develop a modified omni-directional gait and two types of controller which are a forward direction controller and a height controller for the robot. The forward direction controller can make the robot walk to any direction with the new omni-directional gait. The height controller can adjust the motors’ rotation angle for each leg such that the robot can squat to walk through a low gap and after that return to the original gait. Furthermore, there are three wheels being set under the corresponding three legs. When the robot walks on the flat ground, it can be transformed from a hexapod robot to a vehicle robot for moving fast. There is a disk in the tip of each leg, so that it can upside down hang on the mesh and move forward or turn. This function can be used in the special terrain which cannot be passed by walking or wheels. It is worth mentioning that the robot can change to the quadruped robot model so that the left two legs can pick or grasp something. If any one leg is out of function, the quadruped robot model still can make the robot have the walking ability. Moreover, there is a rotatable camera set on the back of the robot to capture and transfer the images to the control center at any time. In summary, the robot can move with four models, which are hexapod, quadruped, vehicle and hanging models robot, to overcome many types of terrain. Finally, according to many experiments, it is found that the robot in four modes can work smoothly and stably. It is confirmed that the robot has high mobility and high adaptability too. We believe that if there are more improvements on the robot, the robot can play its excellent exploration or disaster relief capabilities at the disaster site.

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