本研究旨在透過階層化控制架構與步態規劃使雙足機器人可以達成穩定行走。透過階層化控制架構可將機器人控制分為和上層質心軌跡追蹤控制器與下層機器人全身控制器（Full-Body Controller），使用此控制架構的目的是為了能利用更具成本效益的硬體設計，機器人的髖、膝關節致動器皆使用速度伺服控制，踝關節則使用串聯彈性致動器做力矩伺服控制。具體地說，下層全身控制器利用速度伺服控制來穩定機器人姿態與質心高度，所以機器人動態才可以定錨為一簡單的雙質量倒單擺物理模板；上層控制器則利用腳踝力矩讓機器人質心可以追蹤基於此模板產生的參考軌跡。為了減少擺動腳動態對行走穩定的影響，我們使用雙質量倒單擺的另外一個形式－雙質量滑車模型來規劃擺動腳軌跡使得零力矩點（Zero Moment Point, ZMP）可以在整個行走週期都存在於穩定區域內。我們將此控制架構實現在實驗室所開發之雙足機器人原型機，並利用一系列實驗包含：雙足平衡、單腳站立、原地踏步和向前步行來驗證控制性能。

　　This thesis aims to achieve stable walking of the bipedal robot by a hierarchical control structure and walking pattern planning. The hierarchical control structure is composed of a high-level Center of Mass (COM) trajectory tracking controller and a low-level full-body controller. Such a control structure is meant to exploit a cost-effective hardware design which uses velocity servos for knee and hip actuation but uses SEA (serial elastic actuator)-based torque servos for ankle actuation. Specifically, the low-level full-body controller applies the velocity servos to stabilize the robot posture and the COM height so that the robot dynamics can be anchored to a simplified template of a two-mass inverted pendulum. The high-level controller applies the torque servos to make the COM track a reference trajectory generated by the template. To reduce the influence of the swing leg motion on the stability, a cart-table model with an augmented mass, which is an alternative form of the two-mass inverted pendulum model, is used to plan a swing-leg trajectory so that zero moment point (ZMP) of the robot can remain within the stability region throughout the walking cycle. The controllers are implemented on a prototype bipedal robot developed in the laboratory and experiments including balancing, standing on one foot, stepping in place, and walking forward are conducted to validate the control performance.

摘要 I
Abstract II
致謝 III
目錄 IV
圖目錄 VII
表目錄 X
符號表 XI
第一章 緒論 1
1.1 研究動機與目的 1
1.2 文獻回顧 4
1.3 論文簡介 8
第二章 機器人硬體架構 9
2.1機構設計與硬體架構 9
2.2機器人座標系定義 12
2.3串聯彈性致動器 13
第三章 階層化控制架構 16
3.1 系統控制架構 16
3.2 機器人運動學模型（單支撐週期） 17
3.2.1 支撐腳之運動學模型 17
3.2.2 機器人全身姿態控制 20
3.2.3 模擬結果（支撐腳） 22
3.2.4 擺動腳之運動學模型 25
3.2.5 模擬結果（擺動腳） 27
3.3 機器人運動學模型（雙支撐週期） 29
3.3.1 雙支撐週期下的控制策略 29
3.4 系統動態模型 33
3.4.1系統動態模型推導 33
3.4.2雙質量倒單擺 35
3.4.3質心追蹤控制 37
第四章 質心軌跡規劃 40
4.1 零力矩點和穩定軌跡的定義 40
4.2 擺動腳軌跡設計（矢狀平面） 42
4.3 質心軌跡設計（矢狀平面） 45
4.4 擺動腳軌跡設計（額狀平面） 52
4.5 質心軌跡設計（額狀平面） 57
第五章 實驗結果與分析 63
5.1 全身控制器響應測試 63
5.2 雙足平衡控制 65
5.3 單足站立測試 68
5.4 原地踏步 71
5.5 直線行走 75
第六章 結論與未來工作 80
6.1 結論 80
6.2 未來工作 80

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