本論文主要是研製一個能自動充電之四足機器人，並具備自我電力檢測的功能。當發現電力不足時，機器人利用裝置在身體正下方之紅外線感測器來辨識充電座的位置，並且會自動走到充電座位置上進行充電。四足機器人也具備有避障的功能，當其行走時遇到障礙物，可利用超音波感測器及紅外線感測器偵測四周障礙物的距離，進而引導四足機器人自動避開障礙物。

The main aim of this thesis is to develop a quadruped robot which has self-electric power examination function and can charge itself automatically. When it discovers the electric power to be insufficient, using the infrared sensors installed under the robot body to recognize the charge place position in the environment, and will walk to the charge place position to carry on the charge automatically. Moreover, the quadruped robot has evading obstacle function, when it walks and meets the obstacle, it can use ultrasonic and infrared sensors to detect the distance between all around obstacle and the robot, and guides itself to avoid the obstacle automatically.

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