| Summary: | 碩士 === 逢甲大學 === 自動控制工程研究所 === 86 === There are two major parts of this thesis. First: Establish running motion tra
jectories of biped robot joints. Second: Improve controller of biped robot sys
tem. The model of biped robot used in this thesis has 17 bodies with 16 joints
and 42 degrees of freedom. On the study of running motion planning, running m
otion stable rules is established to create trajectory in accordance with dyna
mic characteristics and requirement of stability of running. This method is mo
re efficient than geometric operation with efctive vector approach. For the co
ntrol of system, existing controller [1] is modified to improve scheduled acce
leration error. New controller is more flexible and can be applied to differen
t motion trajectory tracking (example: walking, standing, running......) and i
mprove the motion speed of the biped robot.
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