本論文主要的目標在於探討人形機器人的行為模式。對雙足機器人的行為模式研究來說，穩定的步伐規劃，是最基本卻也是最重要的一環。為此，本論文將提出透過步伐控制器完成更穩定的行為模式設計方法。首先，介紹我們實驗室所設計之人形機器人(NCKU-1)及其整體架構，包含機械結構設計與硬體配置，並詳述所選用的核心處理器、影像處理裝置、感測器及電源整合電路等。接著，提出數學座標模型，以及零力矩點理論(ZMP)，作為運動規劃之根據，以此設計出各種基本動作模式。最後，我們加入加速度計與壓力感測器，並設計姿態控制器與步伐選擇控制器，來強化機器人步伐控制的能力。經由本研究之實驗證明，透過這樣的設計，機器人可以更穩健地的在非平坦地面行走運動。

This thesis is mainly to concern the research of behavior modes of a humanoid robot. A stable gait planning is the most essential and important part in the study of humanoid robot. Therefore, we design and implement a behavior mode based gait controller. Firstly, this thesis introduces the humanoid robot (NCKU-1) that we construct and addresses the overview of our robot system, which includes the design of mechanical structure and hardware configuration, center process unit, image process unit, sensors, and the integrated power circuit board. Secondly, we propose a mathematic coordinate model and adopt the zero-moment-point theorem to construct the basic motion patterns. Furthermore, we apply two sensors, the accelerometer and the force sensor, to the robot in order to design the posture controller and the behavior mode based controller to improve the performance of walking and climbing stairs. Finally, our real experimental results demonstrate that our robot, NCKU-1, can balance itself on an incline, walk on a sloping surface, and climb stairs with more smooth and stable motions.

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