大部分現有四足機器人的腰部關節通常只具前後彎曲左右旋轉但是不具有左右搖擺的自由度，因此可以只建立單足機構的簡單運動模型來進行步行控制。熊貓在四足步行時會左右擺動臀部與後肢，因此本研究的目的在於模仿熊貓擺動臀部的步行方式來設計四足機器人，並且在軀幹上設計了後置型之可左右擺動腰關節自由度。本研究先將確定的熊貓四肢長度與自由度的機構模型輸入分析軟體內進行運動條件的編輯，直接得到四足運動的相關模擬參數作為步行控制的依據。再透過事先模擬機器人四足步行的方式來驗證重要的設計變數，並且於機器人完成後進行實機測試來驗證模擬的正確性。本研究運用這種有效率的方式成功地開發出具可搖擺腰部關節之熊貓機器人。

For most quadruped robots, their waist joints can usually pitch or yaw, but cannot roll. Thus, their gaits can only be simulated by a simple motion model based on single-legged mechanisms. When pandas move on their four feet, they swing their hips and rear legs from side to side. Thus, the purpose of this study is to develop a quadruped robot which is equipped with a waist joint of one degree of freedom (DOF) for rolling so as to imitate the waist-swinging motion of a real panda. This research starts at editing the predetermined motion conditions with lengths of all panda body parts and the mechanism model with corresponding degree-of-freedom in the CAE software. The related simulation parameters of leg motions are acquired as a reference for gait controls. The quadrupedal walking process was tested in simulators to verify important design variables and simulation validity was also verified on the actual panda robot after their buildup. With this approach, this study has effectively and successfully developed a panda robot with a waist joint that can roll.

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