本論文旨在設計並改善大型人形機器人行走的平衡與穩定性。首先，介紹本實驗室的第二代大型人形機器人David II之系統架構，包含有別於以往的設計概念、硬體規格與嵌入式系統。機器人的部分機構使用塑膠材料，以減輕重量，並以自行設計的齒輪實現減速機的應用，增強馬達的轉矩。此外，另一設計特點是機器人擁有三個自由度的腰部結構。除了硬體的改善，本文也將介紹如何利用陀螺儀、加速度計與磁力計透過卡曼濾波器實現兩階層感測器的融合，估測更精確的身體傾角。回授的傾角資訊經模糊邏輯控制器，動態控制腰部使身體平衡，致使機器人在步行的過程中更穩定，更適應環境變化與相異地形。最後，David II經由參與機器人國際賽事驗證具動態平衡控制之3自由度腰部結構的可行性與效果。

This thesis works on improving stability and balance for the walking pattern of the adult-sized humanoid robot. Firstly, design and implementation of the 2nd generation adult-sized humanoid robot, David II, is introduced. The robot system architecture that contains design process and specification of the hardware, and embedded system is mentioned, too. In order to make this adult-sized humanoid robot better than the previous one, some new design concepts are also proposed in the thesis. For example, some mechanism parts are made of plastic material to reduce weight, and self-designed gears are used as motor decelerator to enhance motor torque. Moreover, the waist joint is assigned three degrees of freedom. Secondly, in addition to the improvements in hardware, the thesis describes how the sensors work with double-stage sensor fusion filter in embedded system as well. Data of the three-axis gyroscopic sensor, which is equipped on the upper body of the robot, are processed by Kalman filter and integrated with the accelerometer and the magnetometer. The fused feedback signal is used as an input to a dynamic control system such that servo motors at waist are able to balance the trunk. The feedback control system continuously renews the angular position of servo motors to promote and improve the walking ability to adapt environmental change and various terrains. Finally, the feasibility and effectiveness of the proposed 3-DOF dynamic balancing waist are demonstrated by the footrace technical challenge in the humanoid league of RoboCup Japan Open 2013 and the penalty kick and obstacle run events in the HuroCup of FIRA 2013, Kuala Lumpur, Malaysia.

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