本文提出以一步態週期為基礎之雙足機器人運動控制系統。此一控制系統包含兩個腳底壓力量測單元與一運動控制器。其中，腳底壓力量測單元是用來量測兩個腳底壓力中心點（Center Of Pressure；COP）；運動控制器則用來收集COP之資訊，以達成穩定行走之目的。為了降低計算複雜度，本文採用以步態週期為基礎之COP回饋方法；其透過調整運動控制參數，使雙足機器人可以自動地從靜止到穩定行走，且不需要考慮機器人之動態特性。因此，此一機器人可以適應於不同軀體結構，也不需得知桿件與馬達之重量配置。最後，本文以兩種不同實驗來評估此一運動控制器之效能，分別包括：機器人自動地由靜止到穩定步行以及行走過程中改變機器人重量配置。實驗結果也驗證了此一方法之可行性。

This study proposes a gait cycle based locomotion control system for biped robots. The proposed control system is configured with a pair of foot-pad pressure units and a locomotion controller. The foot-pad pressure units are developed to measure the centers of pressure (COP) of two foot-pads. The locomotion controller is implemented to collect the COP information for achieving stable walking. In order to reduce the computational loads, a gait cycle based COP feedback approach is proposed, and the biped humanoid robot may automatically move from stationary to stable walking without considering the robot’s dynamics by adjusting the locomotion control parameters. Therefore, the robot is capable of adapting to different biped body structures without the knowledge of mass distributions of the links and motors. Finally, two experiments are used to evaluate the performance of the proposed approach, including automatically walking from stationary and walking with changing mass distribution on the robot body. The experimental results verified the feasibility of the proposed approach.

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