人形機器人在行走時常會遇到許多外在條件的影響，地面的干擾是一個很大的因素。在實際情況中，機器人行經的地面可能會有起伏不一的變化。本論文探討了人形機器人在行走過程中的動態步態生成、模糊控制系統的應用及其與地形變化的適應能力。在與不平坦地面的接觸過程中，機器人將透過座標軸參考系以及角度的轉換運算，迅速偵測出地面角度變化的程度。並透過偵測出的角度變化，在迅速適應地面的過程中改變目前運動的軌跡變化，使機器人能夠完成當前一步地行走。為了提高下一步行走的可行性與穩定性運用模糊系統去微調當前適應地形的角度變化。模糊系統可以用來處理地形變化帶來的不確定性，提升下一步成功行走的能力。同時在適應地形的過程中，使用了髖關節補償器以及碰撞阻尼器來保持行走的穩定性，防止在重新規劃運動軌跡前機器人即失去平衡而摔倒。本論文透過在MuJoCo模擬以及實體實驗中建立數個不同的地形場景來驗證所提出的方法在不同地形上行走的能力。實驗成果顯示在各種方向上的地形變化下機器人能夠成功的度過障礙，如同行走在平地中一樣。

Humanoid robots often encounter many external conditions when walking, and ground disturbance is a major factor. In reality, the ground through which the robot walks may have different variations of ups and downs. This thesis explores the dynamic gait generation, the application of a fuzzy control system, and the adaptability of humanoid robots to terrain changes during the walking process. In the process of contact with uneven terrain, the robot will quickly detect the degree of angle change of the ground through the reference system of coordinate axes and the conversion algorithm of angles. And through the detected angle change, the robot will change the trajectory of the current movement in the process of quickly adapting to the ground, so that the robot can complete this step of walking. In order to improve the feasibility and stability of the next walking step, the fuzzy system is used to adjust the angle change of the current adaptation to the terrain. The fuzzy system can be used to process the uncertainty caused by the terrain changes and improve the ability of the next step to walk successfully. Meanwhile, the Hip Compensator and crash dampener are used to maintain the stability of walking during the process of adapting to the terrain and to prevent the robot from losing its balance and falling down before re-planning the motion trajectory. In this thesis, several different terrain scenarios are set up in MuJoCo simulation as well as physical experiments to verify the ability of the proposed method to walk on different terrains. The experimental results show that the robot can successfully cross barriers under varying terrain conditions in different directions, as if it is walking on flat ground.

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