雙足機器人是近年來機器人學領域蓬勃發展的研究主題。在設計及製作機器人時，因使用串聯桿件連接直流伺馬達與減速機的連接方式，造成馬達的齒輪背隙，被機構桿件放大，產生雙足機器人步態系統的不穩定性。本論文使用一個創新雙足機器人之機構設計及簡易控制系統，此系統是由混合式機構桿件所組成，其中機器人俯仰（Pitch）軸向上機構，是經由平行桿件機構設計，配合線性滾珠螺桿所組成，控制線性滾珠螺桿的馬達控制器，係使用比例-微分控制（Proportional–Derivative Control；PD Control）系統，使能達成關節軌跡之追蹤。在機構上，平行桿件相較改善了串聯桿件背隙較大的問題，而直流伺服馬達與減速機搭配皮帶輪，則是用來提供翻滾（Roll）軸向運動。另外，本論文使用線性倒單擺模型（Linear Inverted Pendulum Model；LIPM）產生大型雙足機器人之步態規劃，其能使得機器人的行走速度達每秒5公分、最大步長亦為5公分，此大型雙足機器人共有19個自由度，其身高為160公分、重量為31公斤。

In recent years, bipedal robots have become increasingly interested in the robotics area. Conventionally, serial connection with DC servomotor and gearbox is widely designed on the bipedal robots. However, for serial connection mechanism, the backlash from motor gears may cause the instability of the locomotion. This thesis designed a mechanism which can overcome this issue. The main objective of this thesis is to propose a novel mechanical design of an adult-size bipedal robot. The bipedal robot is configured with a hybrid mechanism. For the frontal movement, configured linear ball screw actuators with parallel mechanism which is considered to reduce backlash. DC servomotors with timing gears were installed to provide the rotary movement. In addition, this study develops a feedback controller for the linear ball screw actuator which used proportional-derivative (PD) to control the knee of the bipedal robot to track the desired joint angle trajectory. In addition, this study is based on linear inverted pendulum model (LIPM) for controlling the adult-size humanoid robot. Its maximum walking speed is 5 centimeters per second and its maximum walking length is also 5 centimeters. These proposed methods were verified with 19 degrees of freedom (DOF) structure. The height of the bipedal robot is 1.6 meters tall and the weight is 31 kilograms.

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