| Summary: | 碩士 === 國立中央大學 === 電機工程研究所 === 94 === A biped robot has been developed for a long time and it still doesn’thave much change of the unnatural machine gait. It consumes a lot of energy because all joints are needed actuators to act. However, it will be more complicated if we want the robot to walk smoothly. For this reason, the biped robot we design uses the concept of passive dynamic walking.The knees of the robot have no actuators but only controllable latches and the robot can walk by gravity, inertial force and the AI motors. The upper body of the robot will swing when it walks forward and have COG shifted by pulling of motor on the ankle. The calf can kick out by the inertial force. It can walk like human being without motors of all joints, and we can only control the necessary actuators at the right timing to make the complication of control and calculations lower. It also consumes less energy compare to other similar robots. The robot which is 90 cm tall, 4kg weight has 9 internal degrees of freedom. At first, we use computer to develop whole system and design control strategy by controlling AI motor through RS-232. Finally, we transfer the system to DSP to let the robot stand alone and have achievement of high-efficiency with natural swing of a biped robot system.
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