為製作及發展具行走能力的小型二足步行機器人，本文藉由簡單的機構設計，並利用AI伺服馬達設計二足步行機器人。經由向量解析法，求取機器人的位置向量、建立機器人的動態方程式，並規劃二足步行機器人動態步行週期以及腰部與足部的軌跡。二足步行機器人使用單軸PD控制器控制各關節馬達的位置及力矩。本文使用Altera公司所發展的Nios嵌入式系統，此系統可藉由FPGA實現所需要的硬體以及使用C語言發展系統軟體。最後實驗證明所設計的小型二足步行機器人可以在地面上以每秒4公分之速度穩定的步行。

For implementation and development of a miniature biped walking
robot, this thesis utilizes simple mechanism design methods and uses to
establish a prototype biped robot. The biped’s dynamic walking motion is
planned by specifying trajectories of the hip and feet through biped
kinematics and inverse kinematics. The biped control system uses singleaxis
PD controller to control the position and the current of each joint
motor. The control hardware system of the biped robot consists of a Nios’
Development Kit with FPGA chips, and the control software is written in
C programming language. Finally, the experimental results shows that the
designed biped robot can walk in an even floor with a speed of 4 cm per
second.

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