本論文主要目的為增加人形機器人步行速度，及受到外力干擾時，增強人形機器人的站立穩定性。人形機器人KHR-1由日本KONDO公司所製造，其機構由雙腳、雙臂和頭部所構成，分別擁有十個自由度、六個自由度和一個自由度。人形機器人之微控制器由四顆dsPIC30F 4012及一顆TMS320F2812所組成，並且利用控制區域網路匯流排使得五顆數位訊號控制器彼此連線溝通。人形機器人控制系統採用多處理器架構，以致於整個系統執行速度增加。本文也使用感測器系統包含陀螺儀、加速度計、力量感測器及電位計，並且將感測器的類比訊號轉換成數位訊號，經過數位濾波器處理之後，獲得人形機器人軀幹傾斜位置及速度和腳底壓力。本文假設重心集中在人形機器人之臀部中心，由於這樣可以簡化複雜系統，因此更容易規劃及實現步行。在步行控制方面，適當的步態參數和重心軌跡規劃可以改善步行穩定性，並且從壓力感測器得知實際的零力矩點軌跡落在雙腳或單腳支撐面內，因此達到平滑行走。在抗干擾站立控制方面，透過感測器系統回授人形機器人軀幹之合成傾斜角訊號，並由PD控制器即時改善人形機器人在站立時的穩定性。

The purpose of this thesis is to increase the speed of biped dynamic walking and to enhance humanoid robot’s standing stability when it is excited by external outside forces. The humanoid robot KHR-1, made by KONDO, consists of ten servo motors on the two legs, six servo motors on the two hands and one servo motor on the head. The controller of the humanoid robot is consist of four Microchip dsPIC30F4012s and one TI TMS320F2812, and a CAN Bus connects them. Multi-processor structure is adopted in the robot system so that the overall execution speed is increased. The motion sensing system includes gyros, accelerometers, force sensors and potentiometers to measure the body’s inclination angle and COP on the feet. It is assumed that the COG is concentrated on the center of robot’s hip to simplify the walking control system. In this case, suitable gait parameters and COG trajectory planning can be easily planned and improve walking stability and ensure the ZMP falls in the single foot or feet supporting surface from FSR. In the anti-disturbance stance control case, the robot system feedback the tilt of its trunk, and real-time improve standing stability by a PD controller.

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