本研究在建立一套雙足機器人的行走方法，以簡單的欠致動系統:賽格威（Segway）的零點動態為出發點，利用其特性設計機器人行走策略。在本論文一開始，進一步延伸到三連桿的機器人模型上，且在腳底額外多加了腳掌，即腳掌與地面的夾角形成一欠致動角度，來讓此模型的行走更接近一般人類的行走姿態。接著將一個完整的行走週期，細分成5個階段，包含抬腳、腳跟著地、腳尖離地的類人動態，在各階段有各自的控制目標及控制策略，利用到了ZMP的回授和軌跡規劃的方式，來完成雙足機器人一個週期的行走。最後透過模擬軟體來驗證此行走策略，初步已完成一欠致動雙足機器人的行走方法。

In this paper, the purpose is to establish a walking method for biped robot. By the zero dynamics with the simple underactuated system (Segway), we utilize the feature to design the walking strategy for biped robot. In the begin of this paper, we use the model of three-link robot, and add the sole in both feet, so there is an underactuated angle between the sole and the ground. By this way, we can make the biped robot walking more similar to nature human walking. After that, the full walking cycle was subdivided into five stages, including the humanoid motion like lift knee、heel landing、toes off the ground. At various stages has their own control objectives and control strategies, we utilize the ZMP (Zero Moment Point) feedback and trajectory planning to complete a walking cycle for biped robot. Finally, we use the simulation software to verify this walking strategy, and have preliminary completed a walking method for an underactuated biped robot.

摘要 ……………………………………………………………………… I
致謝 …………………………………………………………………… III
目錄 …………………………………………………………………………IV
圖目錄 ……………………………………………………………………… V
第一章 序論 ……………………………………………………………… 1
1.1. 研究動機與目的…………………………………………………… 1
1.2. 雙足機器人的驅動力來源………………………………………… 1
1.2.1. 全致動式雙足機器人…………………………………………2
1.2.2. 被動式雙足機器人……………………………………………5
1.2.3. 欠致動式雙足機器人…………………………………………7
1.3. 人類行走…………………………………………………………… 9
1.4. 論文簡介 ………………………………………………………… 12
第二章 欠致動雙足機器人行走策略 ………………………………………13
2.1. 行走策略 ………………………………………………………… 13
2.2. 雙足機器人模型…………………………………………………… 14
2.3. 行走策略控制 ………………………………………… 24
第三章 模擬與驗證 ……………………………………………………… 32
3.1 雙足機器人行走模擬 …………………………………………… 32
4. 第四章 結論與未來工作 ……………………………………………… 45
附錄 …………………………………………………………………………… 46
參考文獻 ……………………………………………………………………… 55

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