| Summary: | 碩士 === 國立臺北教育大學 === 玩具與遊戲設計研究所 === 96 === The research uses Zero Moment Point concept in the application of equilibrium of a biped toy-robot by single motor. Adopting 4 connecting rods drives the feet step forwards and lifts the legs movements of the robot. There is a couple of parallel cranks setting on the mechanism of the robot. It will adjust the equilibrium of the center of gravity automatically and make the body move by cooperation of the frequency of the two feet paces when it start walk. Biped toy-robots will walk and keep steady through moving the center of gravity. The Robot can be balanced when raising its legs and changing its steps since it works by Zero Moment Point concept. It can solve the problem of the cost of the servomotor, size, and difficulty in controlling through the effect of 4 connecting rods and moving the center of gravity. Using SolidWorks 2007 and COSMOSMotion. analyzes and simulates the performance of the 4 connecting rods, working curve-displacement of graph of the center of gravity, etc. The design biped toy-robot can be accomplished the effect of walking stability and low cost means.
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