近年來人型機器人為世界各國在機器人研究上所致力發展的目標，人型機器人的因機械結構複雜與設計上困難度高，且需具備良好的性能，因此不論是在機構設計或運動控制上，常被用來驗證及整合許多先進的理論及技術。本論文旨在設計並且實現機器人足部系統，在實作上，吾人設計機器人足部機構並加工製造，並且以PC/104+與RTAI-Linux作業系統作為控制平台，除此之外還結合了CAN (Controller Area Network)匯流排網路、PCI轉CAN通訊介面與數位訊號處理器TMS320F2812等構成完整的控制系統，並且配合周邊介面電路與PID控制器，進而完成機器人足部系統架構，經由實驗驗證整體系統之性能。

In the recent years, many countries in the world have focused on developing humanoid robots. Due to the complexity and difficulty of the design of the mechanical structure, and the requirement of good system performance, the humanoid robots are often used as a testbed for many advanced theory and technology. In this thesis, the aims are to design and implement a robotic leg system. The detailed mechanical design and manufacturing are carried out. The control platform is constructed with a PC/104+ and RTAI-Linux operation system, Also a controller area network (CAN) bus network, PCI to CAN communication interface and digital signal processor (TMS320F2812) are used to build a complete control system, and the relevant peripheral interface circuits and PID controllers are used to control this robotic leg system. The effectiveness of the control system is demonstrated through the experimental studies.

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