本論文主要在設計居家服務型機器人的連桿手指及實現腰部旋轉角度之模糊控制。本文提出居家服務型機器人的硬體架構，其中機器人的感測器包含Kinect、麥克風及雷射測距儀並藉由筆記型電腦來連接感測器與六個自由度的機器手臂、兩個自由度的頭部、旋轉腰部以及四輪轉動及四輪驅動的移動平台。為了增加機器人手軸的力量和減少機器人肩膀的負荷，本研究各增加一顆馬達以及齒輪模組。此外，本文設計連桿結構之手指，讓機器人能增加抓取物品的大小。同時為了增加機器人的抓取範圍，本文提出以模糊法則來控制腰部轉動角度，使機器人能抓取更遠物件且機器手臂之姿態保持更好。最後，將所提模糊控制策略應用於居家服務型機器人，並透過實驗結果證明其可行性。

The thesis aims to design and integrate linkage fingers and fuzzy waist angle control system into the home service robot. The hardware architecture of the home service robot, named May, is proposed. It consists of several sensory subsystems such as Kinect, microphone, and laser range finder. A notebook is adopted as the central control unit to process all the data and signals of the sensors, 6-DOF arms, 2-DOF neck, the rotatable waist, and the four-wheel independent steering and driving mobile platform. In order to increase the power of the robotic elbows and decrease the load of the robotic shoulder, one more motor and gear module are introduced. The fingers designed by the linkage structure aim to increase the robot grasping size of object. Moreover, a fuzzy controller is presented to determine a more suitable angle of the waist for grasping the object and getting a better arm posture. Finally, the proposed fuzzy controller is implemented in the home service robot, May. All the experimental results demonstrate the feasibility of the developed schemes.

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