本論文進行二足機器人於平面的動態週期步行速度改變的分析與實驗。由於機器人機構上的設計沒有加入身軀的考量，且在雙腿的長度盡量接近人類比例。在週期步行之中，可以將行走運動分為單腳支撐與雙腳支撐兩個週期交互運作，混合單腳與雙腳週期進行運動，在輸出之前還需要再加入平衡回授計算，藉以消除機構設計上的誤差或是零件之間可能發生的間隙變化，在行走之前的閉迴路機構校正也是必須要執行的，最後實驗動態行走速度的調整對於平衡方面的影響變化行為。

This thesis studies on the analysis and experiment of a bipedal robot that can dynamics walk with variable speed periodically. Due to the robot is designed without hip; the leg length would be closed to human size. According to walk periodically, the behavior could define to single support and double support phase which process alternate each other. After it mixed sport of single support and double support phase, it can use feedback calculation for balancing before the controller output to the motor of the joint. It will cancel design tolerance or the variously gap between joint parts. Before the robot walk, calibrating joints in close loop control is necessary. The experiment will check dynamic walking with various speeds on balance behavior.

[1] Honji T.,Luo Z.W., Nagano A., “Parametric Excitation of a Biped Robot as an Inverted Pendulum”,IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3408-3413, Sept. 22-26, 2008.
[2] Westervelt E.R., Grizzle J.W., Koditschek D.E., “Hybrid Zero Dynamics of Planar Biped Walkers”, IEEE Transactions on Automatic Control, Vol. 48, pp.42-56, Jan. 2003.
[3] Plestan F., Grizzle J.W., Westervelt E.R., Abba G., “Stable Walking of a 7-DOF Biped Robot”,IEEE Transactions on Robotics and Automation, Vol. 19, No.4, pp.653-668, Aug. 2003.
[4] Wang Q.,Wang L.,”Ground Contact Angle in Bipedal Locomotion Towards Passive Dynamic Walking and Running”, Proceedings of the 2007 American Control Conference, pp.2855-2860, 13 Jul. 2007.
[5] Mu X., Wu Q.,”Sagital Gait Synthesis For a Five-Link Biped Robot”, Proceeding of the American Control Conference, Vol.5, pp.4004-4009, 30 Jun. 2004.
[6] Murakami S.,Yamamoto E.,Fujimoto K.,”Fuzzy Control of Dynamic Biped Walking Robot”, IEEE Conference on Fuzzy System, Vol.1, pp.77-82, 20-24, Mar.1995.
[7] Liu P., Han J.,”Gait Synthesis Based on FWN and PD Controller For a Five-Link Biped Robot”,MICAI 2005,LNAI 3789,pp.1012-2005
[8] Kengo T., Takayuki F., Ken T.,”Stabilization of Biped Locomotion Utilizing Compensation in Double-Supporting Phase”, 5th Robotics International Conference, ASCE, 2006.
[9] Shimizu T.,Nakaura S.,Sampei M.,”The Control of a Bipedal Running Robot Based on Output Zeroing Considered Rotation of the Ankle Joint”, Proceeding of the 45th IEEE Conference on Decision & Control, pp.6456-6461, 13 Dec. 2006.
[10] Chevallereau C.,Grizzle J.W., Shih C.L.,”Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot”, IEEE Transactions on Robotics, Vol.25, No. 1, pp.37-50, Feb. 2009.
[11] Shih C.L., Grizzle J.W., Chevallereau C.,”Asymptotically Stable Walking of a Simple Underactuated 3D Bipedal Robot”, 33rd Annual Conference of the IEEE Industrial Electronics Society, pp.2766-2771, Nov. 2007.
[12] Kawamura A.,Chi Z.,Takasu Y.,Ozeki M.,”Discussion on Limitations for the 3D Fast Biped Walking”, 9th IEEE International Workshop on Advance Motion Control, 0-0 0, pp.397-402, 2006.
[13] Minakatand H., Hori Y.,”Realtime Speed-Changeable Biped Walking by Controlling the Parameter of Virtual Inverted Pendulum”, IEEE International Conference on Industrial Electronics, Control and Instrumentation, Vol. 2, pp.1009-1014, 1994.
[14] Nagasaka K., Inoue H., Inaba M.,”Dynamic Walking Pattern Generation for a Humanoid Robot Based on Optimal Gradient Method”, Proc. IEEE International Conference on System, Man and Cybernetics, Vol.6, pp.908-913, 1999.
[15] Hu L., Zhou C., Sun Z.,”Biped Gait Optimization Using Estimation of Distribution Algorithm”, Proceeding of 5th IEEE RAS international Conference on Humanoid Robots, pp.283-288, 2005.
[16] Doi M., Hasegawa Y., Matsuno T., Fukuda, T.,”Stability Proof of Biped Walking Control Based on Point-Contact”, IEEE International Conference on Robotics and Automation, pp.3204-3209, 10-14 Apr. 2007.
[17] Asano F.,Yamakita M.,Kamamichi N,Luo Z.W.,”A Novel Gait Generation for Biped Walking Robots Based on Mechanical Energy Constraint”, IEEE Transactions on Robotics and Automation, Vol.20, No.3, pp. 565-573, Jun. 2004.
[18] Zhou C., “Neuro-Fuzzy Gait Synthesis with Reinforcement Learning for a Biped Walking Robot”, Soft Computing 4, pp.238-250, 2000.
[19] Dzung P. Q.,Phuong L. M.,”Control System DC Motor With Speed Estimator by Neural Networks”, International Conference on Power Electronics and Drivers Systems, Vol.2, pp.1030-1035, 2005.
[20] 凃志芳，”Distributied Real-Time Control and Walking Analysis of Humanoid Robot”碩士論文，台灣科技大學，民國九十六年。
[21] 古均峰，”Analysis and Degisn of Periodic Walking of a Five-Link 2D Bipedal Robot”碩士論文，台灣科技大學，民國九十六年。
[22] 俞舒文，”Walking Pattern Analysis and Control of Humanoid Robot”碩士論文，台灣大學，民國九十五年。