本論文旨在Linux環境中使用ROS及Gazebo用以建構一個雙足機器人的模擬環境，供雙足機器人之動態模擬及控制研究之用。在機器人步態規劃方面，吾人利用擺線輪廓曲線法和一個三次多項式插值方法為基礎規劃機器人的步態，藉由Rviz中的Moveit插件進行逆向運動學的計算；在感測器部分，利用力量感測器模型量測機器人行走時的零力矩點，並利用慣性測量單元模型量測機器人行走姿態。透過rqt即時呈現雙足機器人模型的動態姿態及各軸關節的資料，以供分析確認步態規劃的可行性。

The aim of this thesis is to use ROS and Gazebo based on Linux to integrate a simulation environment for development and simulation of a bipedal robot. Gait pattern planning is based on the cycloidal profile and cubic spline interpolation. Inverse kinematics is obtained by Moveit plugin which is based on Rviz. For sensors, the force sensor model is used to measure the zero moment point of the walking robot and an interial measurement unit sensor model is used to obtain the dynamic posture of the robot. Then simulation the data of sensor models and the data of each joint are displayed through the graphical user interface of rqt. Eventually, this simulation environment is able to help us to validate and verify the feasibility of gait planning.

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