本研究利用iBMPS Post軟體進行開發。首先運動編輯的功能包含分割與接合，使用ScLERP內插彌補兩段運動的差異來達成接合的連續性，另外分割功能使運動處理更為便利。
整合前人所開發之逆向動力學方法，將全身力量分配至足部反力，並應用至全身逆向動力學的計算。在跳躍實驗中驗證逆向動力學方法之合理性。最後發展運動平衡策略，從檢查平衡、決定外加力矩、扭力分配，到順向動力學與積分，平衡後的追蹤流程，大致上有完整的架構。並測試機器人模型走路運動之平衡調整。

We use software “iBMPS Post” to develop the following technique. First, the functions of motion editing include segmentation and connection. For connection, ScLERP was used to achieve continuity of motion. Segmentation made motion processing more convenient. Second, we integrated inverse dynamics method developed before. The whole body force and zero moment point (ZMP) computed by whole body inverse dynamics (WBID) and center of pressure (COP) were used to distribute foot reactions. We input foot reactions into full body inverse dynamics (FBID). In the jumping experiment, we verified the rationality of inverse dynamics method. Last, we developed the strategy for motion balance, including balance checking, external moment calculation, joint torque distribution, forward dynamics and kinematics integration, and tracking process after regaining balance. We test the strategy in the robot walking motion.

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