本論文主要的目的在發展一小型雙足步行機器人，研究自由度的限制並實作驗證，並希望在簡單的架構設計之下，設計出控制法則以達到流暢的行走，運用靜態步行和動態步行的理論延伸應用至各種靈活動作的調整與參考(例如：加減速直線步行、轉彎、跌倒後自行爬起、上下樓梯、鞠躬、仰臥起坐、翻滾…等)。使用人機介面(Borland C++ Builder 6)來精準控制AI伺服馬達的位置和速度使機器人的動作達到我們的需求。
另一個研究的重點在於如何產生雙足步行機器人穩定的平衡步行軌跡，本論文使用D-H座標系統、零力矩點、轉移矩陣法、幾何學，以得到完整步行動作規劃與控制方法雙足步行機器人的數學模型和精確的推導運動學。
機器人系統分為兩部分，一為電腦控制端，另一為機器人本體系統端。電腦控制端主要為軟體，負責進行高階的運算處理與動作樣式的產生。機器人本體系統端則由單晶片控制核心負責機器人的控制系統、感測系統、遠距通訊系統、電力系統…等。而電腦控制端和機器人本體系統端依靠遠距通訊傳輸資料與指令。

The purpose of this thesis is to develop a small biped walking robot, learn the limitation in degree-of-freedom, and design a control method which allow the biped walking robot to walk properly in a simple architecture. To make use of static walking and dynamic walking theory, then we extend the application to other some kinds of motion, such as walking straight, faster or slower, turning, stand up by itself after falling, climbing stairs, bowing , sits-ups, roll the body and other motions. Borland C++ Builder 6 was used as the human interface to control the AI servo meter location and speed of precisely for the designated requirement.
Another focus of this thesis is designing the system to make the walking path of biped walking robot steady and balanced. In order to get a complete mathematical model and precisely derived kinematics, using the proposed walking action planning and control methods, the DH coordinate system, Zero Moment Point, transfer matrix method, and geometry method.
This robot system can be divided into two parts, one is computer-control terminal and the other is main robot system. The computer-control terminal mainly consists of the software, with the high level computing process and which actions should be selected. The main robot system uses the single chip as a control kernel, and consists of the control system, sensor system, long-distance communication system, power system, and other systems. The computer-control terminal uses long-distance communication system to communicate information and instruction with the main robot system.

[1] M. Vukobratovic, A. Frank, and D. Juricic, “On the Stability of Biped Locomotion,” IEEE Transactions on Bio-Medical Engineering, vol. BME-17, no. 1, pp. 25-36, 1970.
[2] C. L. Golliday, Jr. and H. Hemami, “An Approach to Analyzing Biped Locomotion Dynamics and Designing Robot Locomotion Controls,” IEEE Transactions on Automatic Control, vol. 22, no. 6, pp. 963-972, 1977.
[3] F. Miyazaki, and S. Arimotr, “A Control Theoretic study on Dynamical Biped Locomotion,” ASME Journal of Dynamic Systems, Measurement and Control, vol. 102, pp. 233-239, 1980.
[4] H. Miura, and I. Shimoyama, “Dynamical Walk of Biped Locomotion,” International Journal Robotics Research, vol. 3, no. 1, pp. 60-74, 1984.
[5] Q. Li, A. Takanishi, and I. Kato, “A Biped Walking Robot Having A ZMP Measurement System Using Universal Force-Moment Sensors, ” IEEE/RSJ International Workshop on Intelligent Robots and Systems '91. Intelligence for Mechanical Systems, vol. 3, pp. 1568-1573, 1991.
[6] H. K. Lum, M. Zribi, and Y. C. Soh, “Planning and Control of a Biped Robot,” International Journal of Engineering Science, vol. 37, pp. 1319-1349, 1999.
[7] T. Sugihara, Y. Nakamura, and H. Inoue, “Real-time Humanoid Motion Generation through ZMP Manipulation based on Inverted Pendulum Control,” Proceedings of the 2002 International Conference on Robotics and Automation, pp. 1404-1409, 2002.
[8] Napoleon, S. Nakaura, and M. Sampei, “Balance Control Analysis of Humanoid Robot based on ZMP Feedback Control,” IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3, pp. 2437-2442, 2002.
[9] M. W. Spong, and F. Bullo, “Controlled Symmetries and Passive Walking,” IEEE Transactions on Automatic Control, vol. 50, no. 7, pp. 1025-1031, 2005.
[10] J. H. Park, and H. Chung, “Hybrid Control for Biped Robots Using Impedance Control and Computed-Torque Control,” Proceedings of the 1999 International Conference on Robotic and Automation, pp. 1365-1370, 1999.
[11] H. Lim, S. Setiawan, and A. Takanishi, “Balance and Impedance Control for Biped Humanoid Robot Locomotion,”IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 494-499, 2001.
[12] T. McGeer, “Passive Dynamic Walking,” Int. J. Robot. Res., vol. 9, no. 2, pp. 62–82, 1990.
[13] S. Kajita, T. Yamaura, and A. Kobayashi, “Dynamic Walking Control of a Biped Robot Along a Potential Energy Conserving Orbit,” IEEE Transactions on Robotics and Automation, vol. 8, no. 4, pp. 431-438, 1992.
[14] C. L. Shih, and W. A. Gruver, “Control of a Biped Robot in the Double-Support Phase,” IEEE Transactions on Systems, Man and Cybernetics, vol. 22, no. 4, pp. 729-735, 1992.
[15]ASIMO http://world.honda.com/ASIMO/
[16] HONDA. ASIMO running. 2005; Available from: http://world.honda.com/news/2005/photo/c051213/pages/09.html
[17] HRP http://www.is.aist.go.jp/humanoid/index.html
[18] AIST. Successful Development of a Robot with Appearance and Performance Similar to Humans. 2009; Available from: http://www.aist.go.jp/aist_e/latest_research/2009/20090513/20090513.html
[19]http://www.sony.net/SonyInfo/News/Press_Archive/200312/03-060E/
[20] http://www.sony.net/SonyInfo/QRIO/
[21] 編著：彼得‧曼瑟 (Peter Menzel) & 費斯‧德魯修 (Faith D’Aluisio)、譯者：林文源, 機器人的進化-人工智慧與機器人學的新世紀 Robo sapiens：evolution of a new species, 商周出版, 臺北市, May, 2002. 初版。
[22] 編著：M. VUKOBRATOVIC、譯者：趙評, 步行機械人與人工腳 Legged Locmotion Robots, 臺隆書店出版, 台灣, January, 1983.
[23] http://www.takanishi.mech.waseda.ac.jp/top/index.htm
[24] Mega Robotics 之網站 http://www.megarobotics.com/
[25] 范逸之、江文賢、陳立元, C++ Builder 與 RS-232串列通訊控制, 文魁資訊股份有限公司, July, 2002.
[26] 余明興、吳明哲、黃世陽、黃豐隆、紀旺松、潘能煌, Borland C++ Builder 6, 文魁資訊股份有限公司, October, 2008.
[27] 蔡孟凱、雷穎傑、黃昭維、陳錦輝、陳正凱, C++ Builder 6完全攻略, 金禾資訊, August, 2003. 初版三刷。
[28] 陳燦煌, C++ Builder 6徹底研究, 博碩文化, June, 2002.
[29] J. J. Craig, Introduction to Robotics–Mechanics and Control, Second Edition, Addison-Wesly Publishing Company, 1955.
[30] 范文雄, 應用模糊控制於小型二足步行機器人, 逢甲大學資訊電機工程學系碩士論文, 民國97年6月。
[31] 編著：梶田秀司(原作2005年出版, 日本)、譯者：管貽生, 仿人機器人(Humanoid Robots) , 清華大學出版社, 北京, March, 2007.
[32] 黃榮興, 雙足機器人之建構及其動態行為之探索, 逢甲大學自動控制工程學系碩士論文, 民國95年6月。
[33] 陳盈翰, 多自由度雙足機器人之設計與控制實現, 國立中央大學電機工程學系碩士論文, 民國95年6月。
[34] H. Qiang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, and K. Tanie, “Planning Walking Patterns for a Biped Robot,” IEEE Transactions on Robotics and Automation, vol. 17, no. 3, pp. 280-289, 2001.
[35] J. K. Hodgins, and M. N. Raibert, “Adjusting Step Length for Rough Terrain Locomotion,” IEEE Transactions on Robotics and Automation, vol. 7, no. 3, pp. 289–298, 1991.
[36] 柳高陵, 以視覺為基礎之小型人形機器人階梯步行, 國立臺灣科技大學電機工程學系碩士論文, 民國95年6月。
[37] P. Chang-jiu, W. Yu-jun, L. Zhong-zhi, L. Wei, and Q. Yu-hui “A Method for Trajectory Planning in the Stability of Getting Up for Biped Walking Robots,” Intelligent Robot Research Group, Southwest University, Chongqing 400715, China.
[38] J. G. Cham, and M. R. Cutkosky, “Dynamic Stability of Open-loop Hopping,” ASME Journal of Dynamic Systems, Measurement and Control, Sept., 2004.
[39] O. H. Okubo, E. Nakano, and M. Handa, “Design of a Jumping Machine Using Self-energizing Spring,” IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 186-191, 1996.
[40] K. Arikawa, and T. Mita, “Design of Multi-DOF Jumping Robot,” IEEE International Conference on Robotics and Automation, vol. 4, pp. 3992–3997, 2002.
[41] T. Nagasaki, S. Kajita, K. Kaneko, K. Yokoi, and K. Tanie, “A Running Experiment of Humanoid Biped,” IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 136-141, 2004.
[42] S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, “Biped Walking Pattern Generation by using Preview Control of Zero-Moment Point,” IEEE International Conference on Robotics and Automation, vol. 2, pp. 1620-1626, 2003.
[43] 葉廷仁、陳信安, 單足跳躍機器人之分析與實作, 國立清華大學動力機械工程學系, 中國機械工程學會第二十四屆全國學術研討會論文集。
[44] 李崇瑋, 雙足步行機器人系統之研製, 國立成功大學工程科學學系碩士論文, 民國98年7月。