本論文主要的目的是研製單一動力源的四足奔跑機器人，研究利用一顆直流有刷馬達與自製齒輪箱的搭配，配合機構的設計使機器人能產生足夠的作用力，完成快速奔跑的目標。
實驗首先重點在於研究以及數學模擬驗證MIT Cheetah2的數學模型與控制理論，並且以此作為基礎發展出新的四足機器人，有別於MIT Cheetah2是利用控制馬達產生運動的作用力，本論文設計的四足機器人是利用轉盤和連桿機構使彈簧壓縮與釋放，藉此產生瞬間的作用力。
四足機器人運動時身體姿態會產生變化，本論文利用IMU偵測四足機器人的姿態變化，透過分析可以評估四足機器人在運動的過程中是否處於穩定狀態，也可透過IMU得到四足機器人運動時的其他資訊。

This thesis serves to research and develop a singly powered bounding quadruped robot. The bounding gait control algorithm is used in the robot. The algorithm prescribes vertical impulse generated from the scaled ground reaction forces at each step to achieve the desired stance and total stride.

The robot is composed of a motor, springs, IMU and acrylic sheet. The force is generated by the torsion springs. IMU is used to detecting the robot’s posture, so that it can know whether the quadruped robot is stable or not.

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