本論文旨在研究本實驗室先前所設計之雙足機器人的步態規劃、機器人控制系統架構和發展機器人的姿態感測器。在機器人步態規劃的部分，利用擺線輪廓曲線法為基礎以研究機器人的步態且藉由MapleSim和MATLAB軟體輔助模擬和驗證。在姿態感測器部分，以陀螺儀、加速度計及磁力計構成九軸慣性量測單元模組，透過感測器融合技術配合姿態演算法，以得到雙足機器人相對於大地座標之準確與靈敏的動態姿態。在論文中，吾人整合慣性量測單元模組與數位訊號處理器TMS320F2812完成姿態航向參考系統之建構，在感測器融合技術中，採用互補濾波器、增益調變互補濾波器和卡門濾波器，並建構一具三自由度姿態角驗證平台，以驗證姿態感測器之性能。

The aim of this thesis is to investigate gait planning and the control architecture of a previously designed biped robot, and to develop an attitude sensor for the robot. Gait planning is based on the cycloidal profile, simulated by MapleSim and verified through MATLAB. For the attitude sensor, a nine-axis inertial measurement unit composed of a gyro, a accelerometer, and a magnetometer is used. The attitude of the biped robot can be obtained accurately by applying the sensor fusion algorithm. In this thesis, an attitude and heading reference system is developed by integrating the inertial measurement unit and a digital signal processor (TMS320F2812). The complementary filter, gain-scheduled complementary filter, and Kalman filter are adopted to the sensor fusion. The performance of the developed attitude and heading reference system is verified through the experiments conducted on a three-axis rotating platform.

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