二足機器人多關節的設計使得二足機器人有很好的障礙處理能力。然而二足機器人高自由度的多連桿機構，造成二足機器人步行上平衡的困難。因此，二足機器人的步態設計一直是二足機器人動態步行的一個重要課題。
本研究主要目的在於利用前足的機構設計來達成二足機器人直腿型的步行。在此研究之中，利用Pro/ENGINEER 4.0設計一個包含前足機構的半身二足機器人。此機器人包含十二個自由度。利用順向運動學將二足機器人建立出一個多連桿的運動模型。利用人體步行時的關節角度作為機器人直腿型步態週期的參照，以進一步降低二足機器人逆向運動學解析時的自由度。此外使用零力矩點(Zero Moment Point, ZMP)的概念判定二足機器人的平衡狀態。最後達成二足機器人動態步型的平衡控制，以及達成利用前足的機構的二足機器人直腿型的步行。

Comparing to other kinds of robot, biped robot has the advantage of obstacle crossing based on its multiple linkages design. However, multiple linkages design which contains many degrees of freedom increases the difficulty of balance control during dynamic walking. To solve the problem of balance control, the gait design has become an important topic to the dynamic walking of biped robot.
The main purpose of this study is to design a straight lagged walking control for biped robot based on forefoot mechanism. In this study, a biped robot which equipped a pair of forefoot mechanisms is designed by using Pro/ENGINEER 4.0. This robot contains 12 degrees of freedom. The robot control model is built by forward kinematic method. The zero moment point (ZMP) trajectory design is used as a main reference for robot dynamic walking, and also as a criterion of robot balance. Moreover, the joints angle of human gait is used to make a sub reference of robot straight lagged walking. The joints angle data can also decrease the calculation loading of robot inverse kinematic model. Finally, a straight lagged walking of biped robot can be implemented by using forefoot mechanism.

目 錄
===============

口詴委員審定書
誌謝
中文摘要
英文摘要
目錄
圖目錄
表目錄

第一章 前言
1.1 研究背景
1.2 研究目的
1.3 論文整體架構
第二章 文獻探討
2.1 人體動作分析
2.2 步態運作原理
2.3 靜態平衡策略
2.4 動態平衡策略
2.5 零力矩點控制(Zero-moment point, ZMP)
2.6 軌跡規劃
2.7 直腿型步態模型
2.8 前足關節步態模型
第三章 材料與方法
3.1 步態資料處理
3.2 二足機器人步態週期各關鍵階段與關鍵點界定
3.3 順向運動學(Forward Kinematics)
3.4 二足機器人設計
3.5 二足機器人前足機構設計
3.6 二足機器人模型建立
3.7 二足機器人步態控制理論
3.8 零力矩點計算方法
3.9 零力矩點軌跡規劃
第四章 結果與討論
4.1 二足機器人順向運動學模擬
4.2 二足機器人步態週期關節角度模擬
4.3 二足機器人零力矩點計算
第五章 結論與未來工作
5.1 結論
5.2 未來工作
參考文獻

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