本研究之二足步行機器，乃是由兩組相同的八桿十接頭且具單一自由度的連桿組以及一組輔助輪所構成。本研究的目的，是要設計出運動特性良好與推力小之二足步行機器。首先利用向量迴路法作運動分析，求得足部軌跡曲線。接著建立推力分析與機械利益分析的數學模式。在機構尺寸合成方面，是利用最佳化方法(Quadratic Extended Penalty Function Method)，合成出具有最小化推力的二足步行機器，並列出傳動性能、仿生能力、及基本限制三方面的限制條件，找出腿部機構的最佳尺寸。與邱正平型八連桿四足步行機器作運動性能的比較與分析，結果顯示，本研究所設計出的二足步行機器，在推力和機械利益方面，都有相當不錯的表現。最後利用電腦進行動畫模擬，並製作實體模型；結果顯示，所設計出的二足步行機器的確能達到運動要求。

　　The biped walking machine in this study, with auxiliary wheels, is composed of two identical 8-bar linkages with 10 revolute joints and one degree of freedom. The purpose is to design such a biped walking machine with good kinematic performance and minimum force input. First, the vector loop approach is used to obtain the foot trajectory and the angular displacement of the legs. Then, the equations of force analysis and the analysis of mechanical advantage are formulated. And, the quadratic extended penalty function method is used to obtain the optimum leg dimensions. The kinematic performances of Chiu’s 8-link type walking horses and this biped walking machine are evaluated. The result shows that the designed biped walking machine has good behavior in terms of input force and mechanical advantages. Based on computer simulations and the built prototype, we further prove this designed biped walking machine is feasible.

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