本論文旨於探討與改善人形機器人在執行踢腳動作時的單腳平衡情況。人形機器人由於構造的設計上，在執行踢腳動作時會受到腳的質量影響而造成搖晃，不易簡化為無視雙腳質量的線性倒單擺模型，例如本實驗室研製之中型人形機器人David Junior便是如此，此因馬達分佈而導致腳部質量並非均勻或是可忽略之質量。故線性倒單擺模型應將腿部質量納入考量。本論文在簡化模型無法使用的情形下，必須先分析機器人在進行踢腳動作時，肢體與身體的受力分佈與情形，將此分析結果用於考慮腳部重量影響之線性倒單擺模型，外力影響亦需納入考慮，如踢球或踢牆情況時，會有一反作用力作用於機器人並影響其平衡狀況，此部分將以讀取位於機器人質心位置之加速度計數值的方式回授，再加入倒單擺模型計算考量中。本論文之驗證分為兩階段，先於Webots模擬軟體中模擬測試後，再將此結果用於實體機器人上，以比較理想與現實環境中的差異。實體機器人為本實驗室新研製的David Junior II人形機器人，並進行多目標搜尋之踢球賽事，以驗證本論文所提方法之效用與可行性。

A kicking balance control scheme for a humanoid robot is proposed in this thesis. The body of robot, such as the teen-sized humanoid robot David Junior, will shake when kicking with regard to the mass of legs. For this reason, the commonly used Linear Inverted Pendulum Model (LIPM) theory that neglects the mass of legs, may be not suitable to model the real structure of a humanoid robot. Hence, an extended LIPM considering the mass of legs and the external force to the robot is examined in this thesis. First, in an ideal condition, the torque balance for the robot will be discussed, and an extended LIPM including the torque by the mass of legs will be adopted at the same time. Second, the external force from the leg kicking a ball or wall will be detected by the accelerator setting at the position of center of the mass and included into the improved model. For evaluation, the proposed scheme is simulated first in the software Webots, and then it will be applied to a real humanoid robot, the David Junior II designed and implemented recently by our laboratory. Furthermore, David Junior II will play the multi-goal soccer game, where the robot is able to kick different color ball to the correct goal. The effectiveness and feasibility of the developed kicking balance control are demonstrated by this real-time game.

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