本論文著重於設計大型雙足機器人之腳掌機構與平衡控制。在腳掌機構設計中，機構重量限制在1公斤以下並利用壓縮量小的波形彈簧作為緩衝材料，且裝置力量感測器作為站立平衡控制器之輸入。在平衡控制設計中，將力量感測器之數值透過卡爾曼濾波器(Kalman Filter)後，計算機器人站立時的零力矩點(ZMP)，將ZMP傳入模糊控制器，當ZMP位置偏離預定的平衡點時，馬達會將上方機構轉向反方向的位置，由此可驗證平衡控制可用來計算雙足機器人需偏移的角度以保持平衡。最後，經由大型雙足機器人平穩站立與腰部晃動的實際實驗可知，ZMP位置皆在預期的範圍內，因此本論文設計的機器人之腳掌機構與感測器配合模糊控制器可達成預期的功能。 In this thesis, a feet mechanism design and a standing balance control are proposed for an adult-sized biped robot. In feet mechanism design, the feet mechanism total weight is below 1 kg. A wave spring is used to reduce spring height as a cushioning material, and some force sensors are used to measure position of forces movement. In balance control, Kalman filter is utilized to determine the zero moment point (ZMP) in standing for robot and the ZMP is used to be an input variable of a controller. When the ZMP deviates from a desired position, the motor rotates the mechanism to a balance posture. The developed balance control system can calculate a required offset angle of biped robot to maintain balance. Finally, some experimental results are presented for the adult-sized biped robot via standing stable and moving waist. The ZMP position can be controlled within the expected range. Thus, the proposed feet mechanism and standing balance controller with sensors can efficiently control to balance in standing maintenance of the adult-sized biped robot.
