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.
