本論文主要研究的是模擬16個自由度的雙足步行機器人之步行規劃與平衡控制。本研究採用D-H法推導雙足機器人之順、逆向運動學，透過機器人移動軌跡規劃與順、逆向運動學，得知機器人於空間中之運動狀態。另外本實驗根據模糊理論架構出一模糊平衡控制器，透過模糊平衡控制器幫助機器人於空間中平衡行走。不同於其他相關研究之模糊控制器，本控制器以合力矩為輸入，透過模糊平衡控制器，輸出適當的軀幹補償角度，幫助機器人平衡行走。

The goal of this study is design a 16-D.O.F biped robot and simulate walking pattern of biped walking robot. This paper use the D-H method to calculate direct and inverse kinematics of the robot. By designing the moving path and calculating the kinematics of the biped robot, we discuss the walking pattern of the robot in space. Besides this, this research design a fuzzy balance controller to help biped robot walking stability. It’s very different with other balance controller of biped robot. The input of this controller is the moment of the biped robot. The Output of the controller is the angle of trunk compensation. In this paper we use the fuzzy balance controller to make robot achieve dynamic balance.

[1] A. Frank, D. Juričić, and M. Vukobratović , “On the Stability of Biped Locomotion”, IEEE Transactions on Bio-Medical Engineering, Vol. BME-17, No.1, pp.25-36(Jan. 1970).

[2] X. Lou, A. Kawamura, Y. Tomizawa, and C. Zhu, “Biped Walking with Variable ZMP, Frictional Constraint, Inverted Pendulum Model ”, Proc. of 2004 IEEE International Conference on Robotics and Biomimetics, S. Stramigioli, Japan, pp.425-430(22-26 Aug. 2004).

[3] Y. Nakamura, and T. Sugihara, “A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robots”, Proc. of IEEE International Conference on Robotics and Automation 2005, S. Stramigioli, Barcelona, Spain, pp.305-310 (18-22 Apr. 2005).

[4] Y.G. Choi, S.R. Oh, and B.J. You, “On the Stability of Indirect ZMP Controller for Biped Robot Systems” Proc. of 2004 IEEE/RSJ International Conference on Intelligent Robots and System (IROS) 2, IEEE computer society, Sendai, Japan, Vol.2, pp.1966-1971(28 Sep.-2 Oct. 2004).

[5] I. Kato, A. Takanishi, and J. Yamaguchi, “Development of a Biped Walking Robot Compensating for Three-axis Moment By Trunk Motion”, Proc of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE computer society, Yokohama, Japan, Vol.1, pp.561-566(26-20 Jul. 1993).

[6] K. Ohnishi, and T. Suzuki, “Trajectory Planning of Biped Robot with Two Kinds of Inverted Pendulums”, Proc. of 12th International Power Electronics and Motion Control Conference, Portoroz, pp.396-401(30 Aug. - 1 Sep. 2006).

[7] H. Hemani, and C.L. Golliday, “An Approach Analyzing Biped Locomotion Dynamics and Designing Robot Locomotion Control”, IEEE Transactions On Automation Control, Vol. 22, No. 6, pp.963-972 (Dec. 1977).

[8] S. Arimoto, and F. Miyazaki, “A Control Theoretic study on Dynamical Biped Locomotion,” Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME 102, Vol. 102, pp. 233-239( Dec.1980).

[9] H. Miura and I. Shimoyama, “Dynamic Walk of Biped Locomotion”, International Journal of Control, Vol.40, No. 1, pp.107-119(Dec. 1984).

[10] Q. Li, I. Kato, and A. Takanishi “Learning Control of Compensative Trunk Motion for Biped Walking Robot based on ZMP,” Proc. of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE computer society, Raleigh, NC, Vol.1, pp. 597-603(7-10 Jul. 1992).

[11] H. Aikawa, H.O. Lim, Y. Ogura, and A. Takanishi, “Development of a Human-like Walking Robot Having Two 7-DOF Legs and a 2DOF Waist,” Proc. of 2005 IEEE International Conference on Robotics and Automation, A.D. Luca, Barcelona, Spain, Vol.1, pp.134-139(5-7 Dec. 2005).

[12] H. Aikawa, A. Morishima, H. Kondo, H.O. Lim, Y. Ogura, K. Shimomura, and A. Takanishi, “Development of a New Humanoid Robot WABIAN-2,” Proc. of 2006 IEEE International Conference on Robotics and Automation, S. Stramigioli, Orlando, Florida, U.S.A, pp.76-81(16 May. 2006).

[13] A. Morishima, S. Momoki, H. Kondo, H.O. Lim, Y. Ogura, T. Okubo, K. Shimomura, and A. Takanishi, “Human-like Walking with Knee Stretched, Heel-contact and Toe-off Motion by a humanoid Robot,” Proc. of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE computer society, Beijing, China, Vol.1, pp. 3976-3980(Oct. 2006).

[14] Y. Haikawa, K. Hirai, M. Hirose, and T. Takenaka, “The Development of Honda Humanoid Robot,” Proc. of the IEEE International Conference on Robotics and Automation, S. Stramigioli, Leuven, Belgian, Vol.2, pp. 1321-1326(12-20 May. 1998).

[15] M. Hirose, and K. Ogawa, “Honda humanoid robots development,” Philosophical Transactions: Mathematical, Physical and Engineering Sciences (Series A), Vol.365, No.1850, pp.11-19 (Jan. 2007).

[16] B.K. Cho, J.Y. Kim, M.S. Kim, J.H Lee, J.H. Oh, and I.W. Park, “Development of humanoid robot platform KHR-2 (KAIST humanoid robot-2),” Proc. of 2004 4th IEEE/RAS International Conference, S. Stramigioli, Los Angeles, U.S.A, Vol.1, pp.292-310 (10-12 Nov. 2004).

[17] B.K. Cho, J.Y. Kim, M.S. Kim, J.H. Lee, J.H. Oh, and I.W. Park, “System Design and Dynamic Walking of Humanoid Robot KHR-2,” Proc. of 2005 IEEE International Conference on Robotics and Automation, S. Stramigioli, Barcelona, Spain, pp.1431-1436(18-20 Apr. 2005).

[18] J.Y. Kim, J.H. Oh, and I.W. Park, “Online Biped Walking Pattern Generation for Humanoid Robot KHR-3(KAIST Humanoid Robot - 3: HUBO),” Humanoid Robots, Proc. of 2006 6th IEEE-RAS International Conference, S. Stramigioli, Genova, Italian, pp.398-403 (4-6 Dec. 2006).

[19] B.K. Cho, J.Y. Kim, M.S. Kim, J.H. Lee, J.H. Oh, and I.W. Park, “Development of a Humanoid Robot Platform HUBO FX-1,” Proc. of SICE-ICASE International Joint Conference, IEEE computer society, Busan, Korea, pp.1190 -1194(18-21 Oct. 2006).

[20] C.K. Ahn, S.J. Go, and M.C. Lee, “Development of a Biped Robot with Toes to Improve Gait Pattern,” Proc. of the 2003 IEEE/ASEM International Conference, N Viswanadham, Port Island, Kobe, Japan, pp.729-734(24-27 Jul. 2003).

[21] H. Arai, Q. Huang, S. Kajita, K. Kaneko, N. Koyachi, K. Tanie, and K. Yokoi, “Planning Walking Patterns for a Biped Robot,” IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, Vol.17 No.3, pp.280-289(Jun. 2001).

[22] K.C. Choil, H.J. Lee, and M.C. Lee, “Fuzzy Posture Control for Biped Walking Robot Based on Force Sensor for ZMP,” SICE-ICASE International Joint Conference, IEEE computer society, Okayama, Japan, pp.1185 -1189(Oct. 2006).

[23] K. Fujiwara, K. Harada, H. Hirukawa, S. Kajita, F. Kanehiro, K. Kaneko, and K. Yokoi, “Biped Walking Pattern Generation by using Preview Control of Zero-Moment Point,” Proc. of 2003 IEEE International Conference on Robotics and Automation, S. Stramigioli, Istanbul, Turkey, Vol.2, pp.1620-1626(14-19 Sept. 2003).

[24] T. Arai, K. Inoue, T. Tanaka, and T. Takubo, “Emergent stop for Humanoid Robots,” Proc. of 2006 IEEE/RSJ International Conference on Intelligent Robots and System, IEEE computer society, Beijing, China, pp.3970-3975(Oct. 2006).

[25] B. Borovac, V. Potkonjak, and M. Vukobratović, “ZMP: A REVIEW OF SOME BASIC MISUNDERSTANDINGS,” International Journal of Humanoid Robotics, Vol.3, No.2, pp153-176(Jun. 2006).

[26] B. Borovac, and M. Vukobratović, “ZERO-MOMENT POINT – THIRTY FIVE YEAR OF YEARS OF ITS LIFE,” International Journal of Humanoid Robotics, Vol.1, No.1, pp157-172(Mar. 2004).

[27] http://www.takanishi.mech.waseda.ac.jp/research/wabian/index.htm

[28] http://www.honda.co.jp/ASIMO

[29] 陳澄峰，「二足機械人行走模式之研究」，彰化，大葉大學機械工程研究所碩士論文，民國九十一年。

[30] 黃加憲，「虛擬雙足步行機器人之靜態步行規劃與模糊平衡控制」，台北，淡江大學機械與機電工程研究所碩士論文，民國九十二年。

[31] 賴信成，「雙足步行機械人之步伐運動規劃與控制」，彰化，大葉大學機械工程研究所碩士論文，民國九十二年。

[32] 余佳擁，「二足步行機器人的設計製作與軌跡規劃」，台北，大同大學機械工程研究所碩士論文，民國九十三年。
[33] 邱志偉，「二足機器人之動態平衡分析」，桃園，中央大學機械工程研究所碩士論文，民國九十三年。
[34] 游英俊，「二足機器人的步態規劃與實作」，台北，大同大學機械工程研究所碩士論文，民國九十三年。

[35] 廖本輝，「兩足機器人之動態步行軌跡分析」，桃園，中央大學機械工程研究所碩士論文，民國九十四年。

[36] 林哲平，「二足機器人之模糊邏輯ZMP產生器及IC設計」，桃園，中央大學機械工程研究所碩士論文，民國九十四年。
[37] 謝志昇，「小型二足步行機器人製作與控制」，台北，國立台灣科技大學，電機工程系碩士論文，民國九十四年。

[38] 嚴中廷，「小型二足步行機器人步行規劃與控制」，台北，國立台灣科技大學，電機工程系碩士論文，民國九十五年。

[39] 陳柏宇，「應用軀幹補償於雙足機器人步行之平衡控制」，台北，國立台灣科技大學，高分子工程系碩士論文，民國九十六年。

[40] 古均峰，「二維五連桿二足機器人週期性步行之分析與設計」，台北，國立台灣科技大學，電機工程系碩士論文，民國九十六年。

[41] 凃志芳，「人型機器人分散式即時控制及步行分析」，台北，國立台灣科技大學，電機工程系碩士論文，民國九十六年。