在機器人的發展方面大致上可分為幾類， 輪型， 二足， 四足， 多足機器人。
這幾種類型都各有優缺點， 端看其應用場合選擇最適合的種類。

以娛樂型機器人來說， 四足機器人因為可以設計成貓狗的形狀， 較易貼近人們的生活， 所以本文的設計載體會以四足機器人為目標。
以四足機器人為主題的研究大多是單一步態設計， 動態分析， 障礙閃避， 或者是藉由攝影機， 感測器加上人工智慧使機器人的動作更為生動。
然而在動作研究方面， 目前大多只專注在慢速步伐上，
所以在本文當中會針對四足機器人的步行步態方面去做研究， 試圖將四足動物的高速步伐應用在本文所設計的機器人上。

外觀上以小型機器寵物為目標， 在機構設計上都儘量節省空間， 在步伐規劃上， 為了避免系統復雜，
所以採用先在電腦上把所有會用到的步伐都先設計出來， 再將這些步伐經反運動學求出角度， 然後再把角度轉為伺服機控制訊號，
最後， 把控制訊號以文字檔格式存在 SD 卡裡，
機器人上則是使用 ARM 當做主系統， 操控則是利用無線手把控制動作， ARM 系統擷取無線手把資訊後再從 SD 卡讀取相對應步伐控制命令。

本文利用並聯式機構、高扭力伺服機、能量儲存彈簧及嵌入式控制系統，設計出可高速行走之四足機器人，
並且提出四足機器人之逆向運動學、靜態穩定度分析、彈簧模型及多種步態軌跡的分析手法，
最後應用四足動物的實際步態於機器人的行走上， 達成可高速(Trot)行走的四足機器人。

The development of robot can divided several categories, wheeled, Biped, quadruped and multi-Limbed robot.
In entertainment robot, the quadruped robot can be designed as cats or dogs close to people's live, so we will design robot type for quadruped.

Most of quadruped robot research, the topic is single gait design, dynamic analysis, obstacle avoidance, and to make more vivid the robot's movements by sensors with artificial intelligence.
In the action research, only concentrates in the slow gait.
So in this paper which will aim at quadruped robot's gait to do research, will take on quadruped's gait application in this paper will design on robot.

In gait planning, at first, all gaits will designed on the computer.
Then these gaits of the angle obtained by the inverse kinematic, and turn angle into servo control signals.
Finally, the control signals save as text file in SD card, and then read gait command from SD card after ARM system get joystick data.
In the gait of design, besides the most commonly used walk, also joined the center, and trot.

In this paper, design a high-speed walking of the quadruped robot using the parallel mechanism, high-torque servo motor, energy storage spring and embedded systems.
And proposes several analysis techniques for quadruped robot, inculde inverse kinematics, static stability analysis, spring model and a variety of gait analysis.
Finally apply quadrped animal's gait to robot's walk, achieves high-speed walking (Trot) quadruped robot.

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