本論文旨在中型人形機器人David Junior之研製與其穩定步態之實現。首先，介紹機器人的系統架構與改良的機構設計概念，並應用線性倒單擺模型(LIPM)於步態產生器。由於傳統線性倒單擺模型必須假設機器人上半身之質量遠大於雙腳之質量，進而在推導機器人模型過程中忽略雙腳之質量以簡化模型，但此一假設與目前大多數人形機器人之身體質量分佈有所牴觸。故本論文提出一改良型線性倒單擺模型，將雙腳之質量也加入模型計算，如此一來更符合實際的情況。此外，機器人行走時的腳掌傾斜幅度能夠顯著地影響步態的穩定性，因此本論文將以訓練的方式決定適當的腳掌傾斜角度以產生較為穩定的步態。最後，為了克服地形的不平坦以及環境擾動的影響所造成的不穩定因素，參考加速度計之數值回授實現了即時的步態閉迴路控制，提昇機器人的步態強健性。實驗結果顯示將此改良型線性倒單擺模型實際運用於中人形機器人中，其行走速度可以達到17.4cm/s，相較上一代之大型人形機器人進步了約2.4倍。David Junior於2014 FIRA RoboWorld Cup競賽之HuroCup Adult-Sized組獲得競賽總冠軍的佳績。

Design of a teen-sized humanoid robot David Junior and its stable gait pattern generation are proposed in this thesis. First, the system architecture and the design concept of enhanced mechanism are introduced. Second, the Linear Inverted Pendulum Model (LIPM) theory is used for gait pattern generation. Conventional LIPM is assumed that the mass of legs should be much less than the mass of the upper body, the mass of legs is neglected to simplify the model. However, it causes the conflict between LIPM and real models of most current humanoid robots. Hence, this thesis proposes an improved LIPM, and the mass of legs can be included in the model. Therefore, the improved LIPM is more suitable for real situation and application. Third, a training process is utilized to learn a suitable pose of supporting sole, which seriously affects the stability of gait pattern, for stable walking. Finally, acceleration feedback is adopted to overcome the uncertainty factors such as uneven terrain and environment disturbance which cause unstable phenomenon. This real-time closed-loop control increases the robustness of gait pattern. Experimental results demonstrate that the walking speed of David Junior with improved LIPM can achieve 17.4cm/s, and it is 2.4 times faster than previous generation adult-sized robot. Furthermore, David Junior won the all-round championship in Adult-sized HuroCup category of 2014 FIRA RoboWorld Cup.

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