本論文的研究重點為如何產生能讓機器人平穩行走的步行軌跡。首先推導二足機器人的數學模型，為了解機器人的穩定度，以向量解析得到二足機器人的順向運動學公式。再由幾何觀察得到機器人的反向運動學公式，並推導出其重心公式。最後規劃出機器人步行時重心移動的軌跡，利用遺傳演算法搜尋出穩定行走時各關節馬達的實際角度，使人行機器人能夠穩定行走。

The purpose of the thesis is to find a walking trajectory for a walking biped robot to walk stably. We have derived both the mathematic model and the direct kinematics equations of the biped robot. The vector-analyzing is used to analysis the stability of the biped robot. We take the geometry method to derive the inverse kinematics and the center of pressure (COP) of the biped robot. Finally, we use the generic algorithm to estimate the best trajectory of each joint from position of the COP of the biped robot. And, a mini biped robot is implemented for handwork practice.

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