本論文設計一個包含慣性感測器、低通及卡爾曼濾波的動態感測系統，並將感測器模組裝設於人形機器人的重心位置，在機器人執行任務時，獲取其pitch軸與roll軸的角度響應。將相關步行周期訊號重疊，進行其角度響應的分析，以利於萃取機器人在穩定地執行任務時的角度軌跡，作為平衡系統的理想參考角度。為了讓機器人在承受外力干擾時，有效地修正與補償，設計一個具有姿態分類的增量式比例微分死區控制器。第一步先以機器人各具有四個自由度的雙手及六個自由度的雙腳的運動學，推導馬達與各端點之關係，以獲得雙手與雙腳四個端點分別相對於頸部及腰部中心的三維座標，再以此四端點的三維座標分類36種姿態。第二步則以增量式比例微分死區控制器計算pitch軸與roll軸的角度修正量，並且根據不同的姿態分類結果，由適當的馬達進行補償，以達到動態平衡的目的。最後，藉由人形機器人連續步行動作中，施加外力，或改變控制器參數，或不同的行走周期的相關實驗，驗證本論文提出方法之有效性及強健性。

　　At the beginning, a dynamic sensing system including the hardware and the low-pass and Kalman filtering is designed. It is then installed at the central of gravity (CoG) of the humanoid robot (HR) and can capture the responses of the pitch and roll axes during the execution of specific task (e.g., continuous motion of walking). After the analytic design, a set of desired pitch and roll trajectories for the stable response of a specific task is achieved. To effectively deal with the external disturbances (e.g., punched by a human from different directions and at different time), the pose classification with incremental proportion-derivative dead-zone control (PCIPDZC) for the HR executing a specific task is developed. Firstly, the 3D coordinates of four tips (i.e., two hands and feet) with respect to the neck and waist centers of HR are computed by the kinematics of 4-DoFs of two arms and 6-DoFs of two legs. Based on these 3D coordinate, the total 36 classes are achieved. Secondly, the incremental proportion-derivative dead-zone control (IPDZC) of the pitch and roll directions for each class with different suitable motors is designed without the requirement of the pressure sensors in the bottom of two feet. Finally, the experiments of continuous walking motion with external disturbances or different control parameters or different walking motions validate the effectiveness and robustness of the proposed method.

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