| Summary: | 碩士 === 逢甲大學 === 自動控制工程學系 === 90 === This thesis introduces how the intelligent control methods used in the robot exercise generation, and the approximate performing behaviors.
The goal of this thesis is to show out how an intelligent control structure, which constitute of natural biological principle and following the trajectory of biological imitation, with a rapid computer calculation to get a approximate optimum behavior.
This thesis includes the fundamental and application of the principles as above, the humanoid biped robot model appearance, the trajectories planning of motion, the controller structure and robot motion description, performing a simulation of designed motion of robot’s arm and feet, and also performing a simulation of such a controller. From the results of simulation, we can find out such as methods as trajectories plan and intelligent control structure could satisfy our goal.
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