本論文主要目的以DSP F28335實現建立二足機器人系統，將二足機器人放置跑步機上使用定速模式行走。二足機器人腳底設計為點接觸，利用裝置的感測器包含電位計、傾斜計、加速度計及磁簧開關，將感測器的類比訊號經過類比濾波器後再轉換成數位訊號。數位訊號經過數位濾波器處理後，由順向運動學即可計算出二足機器人步行狀態。運動軌跡的規劃，則是效仿人類行走產生數個離散點，經由逆向運動學計算出各軸定點角度，再由分段T型差補方式，將各軸定點連接成其軌跡。

This thesis aims to utilize DSP F28335 to achieve the establishment of bipadal robot system. The bipadal robot will be placed on treadmill walking machine using the fixed speed mode.
The bipadal robot was designed with point feet, and made the use of devices, sensors with potentiometer, inclinometer, accelerometers, and magnetic reed switch, the sensor's analog signals through analog filters and then converted into digital signals. Digital signal through the digital filter processing calculated by the direct kinematics turns out the result of the bipadal robot’s walking status. Gait trajectory, which emulates the human walking to generate a few discrete points. The use of inverse kinematics to calculate the angle of axes fixed, and then make up by piecewise T-curve interpolation, to connect the shaft into its designated trajectory.

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