| Summary: | 碩士 === 中原大學 === 電機工程研究所 === 99 === In this thesis, we design and implement a large-scale biped robot. The robot has ten degrees of freedom. Traditional large-scale biped robot is very expensive, thus we attempt to design a low cost biped robot in order to cut down the threshold in studying large-scale biped robot. The robot's static walking is planned by forward kinematics and COG (center of gravity). The stability of a biped robot depends on its COG if COG of a biped robot falls in the certain region. Furthermore, to make the system walking more smooth and stable, we used Mamdani type fuzzy logic controller to robot tracking control and anti-swing control. Due to ten motors act in the same time, we design multi-chip parallel processing control structure. Finally, the experimental results of propose large-scale biped robot demonstrates the good performance of the whole control system.
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