本論文主要是設計一個能在不同環境下穩定行走之雙足機器人。機器人可依地形條件做出合適的步行運動，同時藉由平滑的腰部運動來保持步行之穩定性。規劃其步態模型包含足部與腰部的軌跡。先設定足部的邊界條件，在用三次方曲線來產生足部軌跡。接著一樣使用三次方曲線函數來設計平滑的腰部運動同時具有最大的穩定邊限，而此腰部軌跡是採疊代的方式求得。

The main aim of this thesis is to develop a biped robot which walk stably in various enviroments. The robot can adapt to the ground conditions with suitable a foot motion, and maintain its stability by a smooth hip motion.A method is used to plan a walking pattern consisting of a foot trajectory and a hip trajectory. First, to formulate the constraints of a foot trajectory, and generate the foot trajectory by third-order spline. Then, to formulate a smooth hip motion using a third-order spline function with the largest stability margin, and derive the hip trajectory by iterative computation.

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