本論文實現大型人形機器人之雙足行走步態。本論文依照130公分高的人形，來設計具有10個自由度的仿人類之雙足機器人。本論文大致分為三大部分：(1)機構設計、(2)電控設計以及(3)步態設計。在機構設計部分，本論文結合直流無刷馬達與諧和式減速機來設計馬達，並在機器人的左、右腳各安置5顆馬達，踝關節2顆、膝蓋1顆、髖關節2顆，以此10個自由度來實現行走步態。在電控設計部分則是開發一套直流無刷馬達驅動器與大型人形機器人之電控架構。步態設計則是以中樞模式產生器的方法開發出正弦函數振盪器以模擬步態軌跡並以3D模擬來驗證動作的正確性。本論文所實現之機器人可透過工業電腦來進行步態演算，並以逆運動學計算出馬達所要執行的角度與速度，再送至馬達驅動器以驅動直流無刷馬達，來完成設計的步態動作。

Design and implementation of biped walking gait for adult-sized humanoid robots is proposed in this thesis. A 10 degree of freedom biped robot based on 130 cm tall human is designed in this thesis. There are three design objectives including: (1) Mechanical design, (2) Electrical design, and  (3)Walking gait design. Brushless DC motor (BLDC) and harmonic drive are applied to implement the joint. Each leg has 6 degree of freedom, two for the ankle, one for knee and three for hip. For electrical design, a BLDC driver and the electrical system for the whole robot is accomplished. In order to design the walking gait, a simplified sine oscillator with central pattern generator (CPG) is applied in this thesis. A 3D simulation system is completed for verifying the walking gait. The proposed robot is able to calculate the walking gait in an industrial computer and send the rotate angle and velocity of the motor to the motor driver board for controlling the motor.

中文摘要 I
英文摘要 II
目錄	V
圖目錄	VIII
表目錄	XI
第1章	緒論	1
1.1	研究背景	1
1.2	研究動機	9
1.3	論文架構	11
第2章	大型人形機器人之機構設計	12
2.1	設計概念	12
2.2	自由度	14
2.3	馬達與減速機	14
2.4	關節設計	16
2.5	應力分析	17
第3章	大型人形機器人之電控設計	18
3.1	機電系統架構	18
3.2	工業電腦	19
3.3	FPGA(Field-Programmable Gate Array)	20
3.4	馬達驅動器	21
3.4.1	DRV8302-HC-C2-KIT	21
3.4.2	HIWINBoard	22
3.5	感測器	27
3.6	電源規劃	28
第4章	大型人形機器人之步態設計	30
4.1	步態系統架構	30
4.1.1	步態處理器	31
4.1.2	步態週期狀態	33
4.1.3	步態函數	38
4.1.4	逆運動學	38
4.2	步態軌跡	38
4.2.1	步態軌跡規劃	39
4.2.2	步態軌跡方程式	43
4.3	逆運動學	52
第5章	實驗結果	54
5.1	3D步態模擬	54
5.2	實際步態運動觀測	56
第6章	結論與未來展望	59
第7章	參考文獻	61

圖1.1、蛇形機器人	2
圖1.2、壁虎機器人StickyBot	3
圖1.3、魚形機器人RoboPike	3
圖1.4、鳥形機器人SmartBird	4
圖1.5、狗形機器人BigDog	4
圖1.6、本田公司的人形機器人(a)E系列、(b)2000年ASIMO、(c)2011年ASIMO	5
圖1.7、早稻田大學的雙足人形機器人(a)WABOT-1、(b)WABIAN-2R、(c)WABIAN-2R的腳趾機構	6
圖1.8、AIST的雙足機器人(a)HRP-1、(b)HRP-4C、(c)HRP-4	7
圖1.9、KAIST的雙足機器人(a)KHR-1、(b)KHR-2、(c)Albert HUBO	8
圖1.10、波士頓動力的雙足機器人(a)PETMAN、(b)Atlas	9
圖2.1、大型人形機器人腳部機構，正視圖(左)及右視圖(右)	12
圖2.2、大型人形機器人實體圖	13
圖2.3、自由度分配	14
圖2.4、馬達與減速機(a)429271、(b)CSD-2UF	15
圖2.5、各關節機構(a)髖關節、(b)膝關節、(c)踝關節	16
圖2.6、踝關節與髖關應力分析	17
圖2.7、膝關節應力分析	17
圖3.1、大型人形機器人機電系統架構	18
圖3.2、PICO831	19
圖3.3、H3C120-V6核心板	20
圖3.4、TI的馬達驅動器與控制卡(a)DRV8302-HC-C2-KIT、(b)Piccolo F28035 controlCARD	22
圖3.5、HIWINBoard	23
圖3.6、HIWINBoard(a)HIWINBoard_TOP、(b)HIWINBoard_BOTTOM	23
圖3.7、HIWINBoard方塊模組圖	26
圖3.8、磁旋轉編碼器(a)AS5145示意圖、(b)AS5145電路板	27
圖3.9、EE-SX672	28
圖3.10、電源系統(a)腳部鋰電池、(b)超級電容、(c)主控端鋰電池	29
圖4.1、步態系統架構圖	30
圖4.2、步態處理器流程圖	33
圖4.3、單步步態週期狀態流程圖	35
圖4.4、連續步態週期狀態流程圖	37
圖4.5、腰部及腳部軌跡示意圖	39
圖4.6、大型人形機器人示意圖	40
圖4.7、雙足機器人站立示意圖：(a)正視圖、(b)右方側視圖和(c)上視圖	40
圖4.8、完整步態行走示意圖：(a)上視圖、(b)右方側視圖和(c)正視圖	42
圖4.9、腰部振盪器模擬圖(a)單步步態(b)連續步態	45
圖4.10、右腳振盪器模擬圖(a)單步步態(b)連續步態	48
圖4.11、左腳振盪器模擬圖(a)單步步態(b)連續步態	51
圖4.12、3D立體末端點軌跡模擬	51
圖4.13、機器人雙足座標軸示意圖(a)正視圖(b)側視圖	52
圖5.1、3D模擬步態圖	56
圖5.2、大型人形機器人步態測試側視圖(上)正視圖(下)	57
圖5.3、馬達角度誤差圖	58

表1.1、ASIMO系列規格表	5
表1.2、HRP系列規格表	7
表1.3、KHR系列規格	8
表2.1、鋁合金6061-T6規格表	13
表2.2、碳纖維棒	13
表2.3、429271規格表	15
表2.4、CSD-2UF規格表	15
表3.1、PICO831詳細規格表	20
表3.2、H3C120-V6核心板規格表	21
表3.3、鋰電池及超級電容規格	29
表4.1、腰部振盪器參數表	44
表4.2、腰部參數値	44
表4.3、連續步態的右腳振盪器參數表	47
表4.4、連續步態的右腳振盪器參數表	47
表4.5、左腳振盪器參數表	50
表4.6、左腳參數表	50
表5.1、大型人形機器人雙足模擬參數表	54
表5.2、大型人形機器人雙足實測參數表	57

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