• 作者： 施慶隆; 薄占平
• 作者服務機構： 國立臺灣工業技術學院電機工程技術系
• 中文摘要： 本文實作一具能以動態平衡步行的二足步行機器人。此二足步行機器人有七個自由度，其機構主要包括兩個可伸縮的腳，及包含左右平移滑塊的身驅。其步行的方法是利用動力學，規劃並控制其身軀及雙腳之軌跡以保持平衡。本文主要的貢獻在於高效率、低能量之步行規劃，以及實驗的驗證。在平坦地面，此步行機能以每秒二十公分之速度運動。
• 英文摘要： The motivation of this work was to synthesize a smooth and energy-optimized walking pattern fora seven degrees-of-freedom biped robot walking on an even floor. The biped's walk is realized by trackingcontrol of the planned trajectory. The biped robot achieved walk initiation and continuous walking backand forth, and the biped can walk with a speed of 20 cm/second on even floors. The contributions ofthis work are: (l) the results of experiments on a seven degrees-of-freedom prototype biped, which iscapable of walking in a dynamically stable manner, are presented, (2) the synthesis of an energy-optimizedwalking gait is proposed, and (3) the reasoning behind the local PD feedback loop justifies satisfactoryperformance.
• 中文關鍵字： biped robot; dynamically stable walking; motion control
• 英文關鍵字： --