中文摘要
本論文提出嵌入式的人形機器人運動控制器，此一控制器是以DM3730和XScale PXA270嵌入平台進行開發。此一系統分成兩部分，包含自主避障演算法開發以及人形機器人運動控制裝置驅動程式開發。
本文的自主避障演算法主要是以權重扇形掃描障礙物進行運動分析，借此完成機器人自主避障功能，而此自主避障程式開發於DM3730嵌入式平台上，並以開放式資源開發出具視覺避障嵌入式Linux系統，包含擷取攝影機訊號、障礙物辨識功能以及運動規劃。另一個人形機器人運動控制裝置驅動程式開發於PXA270嵌入式平台上，本文於核心空間（Kernel Space）開發人形機器人步態控制器，包含線性倒單擺模型（Linear Inverted Pendulum Model）軌跡以及人形機器人逆向運動學，並以規劃腳掌軌跡，實現全向步態成果；並使用者空間（User Space）中開發圖形化監控程式之人機介面，機器人狀態與行走；而最後系統以完成FIRA國際型人形機器十項全能競賽之避障（Obstacle Run）項目為本系統實驗與測試的環境。

ABSTRACT
This paper proposes an embedded locomotion controller for an adult-size humanoid robot. A real-time embedded Linux operating system is used to a locomotion controller and a computer visual navigation base on XScale PXA270 and DM3730 platform. The locomotion controller includes locomotion trajectory planning based on Linear-Inverted Pendulum Model (LIPM) and Inverse Kinematics (IK). An omnidirectional locomotion controller is further implemented by using foot placement planning. The computer visual system integrates autonomous obstacle avoidance navigation and a graphic interface to monitor real-time visual feedback and locomotion.
Based on the proposed system architecture, two embedded systems individually process image processing, decision making and locomotion control. DM3730 deals with autonomous obstacle avoidance navigation and sends commands to PXA270 via Universal Asynchronous Receiver / Transmitter (UART). The humanoid robot locomotion control and IK are implemented on PXA270 as a device driver in the kernel space. The multi-core structure runs multiple tasks which increase overall speed for programs. To the proposed obstacle avoidance navigation system, sector scanning algorism and the decision tree are applied to accomplish obstacle recognition and autonomous navigation. Finally, the experiments follow the rules of obstacle run challenge specified in the HuroCup league of the Federation of International Robot-soccer Association (FIRA) to evaluate the performance of the proposed system.

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