本研究旨在利用動力學與運動學混成控制，使雙足機器人能夠透過調整腳的長度及質心位置，適應地面的變化並達成調配雙腳的地面反作用力分布的目標，使機器人能夠於蹺蹺板上維持平衡。混成控制架構下的運動學控制是透過機器人的髖關節及膝關節致動器作速度控制來調整身體姿態，將機器人動態定錨為線性倒單擺模型，並使機器人能夠於不平坦的地面保持平衡；動力學控制則利用踝關節的串聯彈性致動器(Serial elastic actuator, SEA)進行力矩控制，使機器人具備追蹤質心軌跡的能力。最終基於此控制架構，設計地面反作用力控制器，使用力敏電阻(Force-Sensitive Resistor, FSR)製作低成本的力感測模組回授地面反作用力，並透過調整機器人的質心位置，達成調整雙腳地面反作用力分佈的目標。本研究將此控制架構實現於實驗室開發之雙足機器人，並利用模擬、實驗驗證機器人於雙支撐步態下之控制性能。

The purpose of this study is to apply hybrid kinematic-dynamic control to enable a bipedal robot to adapt to changes in the ground by adjusting the length of its feet and the position of its center of mass (CoM), with the goal of achieving balanced distribution of ground reaction forces on both feet while maintaining balance on a seesaw. Under the hybrid control framework, the kinematic control utilizes the hip and knee joint actuators for speed control to adjust the body posture of the robot, anchoring its dynamics to a linear inverted pendulum model (LIPM), thereby allowing the robot to maintain balance on uneven terrain. The dynamic control, on the other hand, employs the Serial Elastic Actuator (SEA) of the ankle joint for torque control, enabling the robot to track the trajectory of its center of mass. Ultimately, based on this control framework, a ground reaction force controller is designed, utilizing a low-cost force sensing module made from Force-Sensitive Resistors (FSRs) to provide feedback on ground reaction forces. By adjusting the position of the robot's CoM, the goal of balancing the distribution of ground reaction forces on both feet is achieved. This research implements this control architecture on a bipedal robot developed in the laboratory, and the control performance of the robot in the double-support gait is verified through simulations and experiments.

摘要 i
Abstract ii
致謝 iii
目錄 iv
圖目錄 vi
符號表 viii
1. 緒論 1
1.1 研究動機與目的 1
1.2 文獻回顧 3
1.3 論文架構 5
2. 硬體架構 6
2.1 機構設計 6
2.2 力感測器 8
2.3 機電架構 10
3. 雙足機器人模型與控制 14
3.1 動力學控制 14
3.2 運動學控制 19
3.2.1 順向運動學 20
3.2.2 逆向運動學 21
3.3 地面反作用力及蹺蹺板平衡控制 25
3.3.1 斜面平衡模擬結果 27
3.3.2 地面反作用力控制模擬結果 28
3.3.3 蹺蹺板平衡模擬結果 29
4. 實驗結果 30
4.1 雙支撐Y方向控制器測試 30
4.2 斜面平衡控制器測試 31
4.3 地面反作用力控制 32
4.4 蹺蹺板平衡實驗 34
5. 結論與未來工作 36
5.1 結論 36
5.2 未來工作 37
6. 參考文獻 39

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