本論文主要研究內容為二足機器人追蹤數種預設步行路徑能力。 機器人之運動分析使用現有數種套裝軟體，並相互配合以完成運動模擬。 使用之軟體有MATLAB、Pro-Engineer、MSC. Visual NASTRAN 4D等三套。在複雜的機器人行為中，下肢為預先規劃之七連桿機構，上肢則僅以一根假設質量集中於末端的桿件，此桿件可於行進時提供補償以完成身軀之動態平衡。 採用順向及逆向運動學推導出整體的動態平衡運動方程式。於MSC. Visual NASTRAN 4D機構模擬期間，利用其與Matlab之間的相互連結計算上肢桿件平衡位置，將此新的平衡位置傳回MSC. Visual NASTRAN 4D機構模擬軟體中，以確保機器人整體之平穩性。 二足機器人各桿件皆以Pro-Engineer繪製，再載入MSC. Visual NASTRAN 4D中執行模擬動作。 步態分析包括有直線行進，繞定點180°，S型路徑，行進間變換速度，直角轉彎及上下階梯等，因應不同的行進方式，所對應的各馬達轉角、足部、甚至腰部路徑的變化也不同，為確保平穩的上肢桿件的馬達轉角更有些許的落差，上述模擬數據可供實作前參考。 The main purpose of this thesis is to analyze the ability of a biped robot to track preset routes. The simulation was completed by combining several computer packages. Those computer packages include MATLAB、PRO-ENGINEER and MSC VISUAL NASTRAN 4D. Among complicated robot behaviors, lower-limb was preset, and upper-limb was designed as a single concentrated mass. The upper-limb was designed to offer compensation for a stable walking. The governing differential equations were derived based on kinematics and dynamic equilibrium considerations. During the simulation, the equilibrium position of the lower-limb positions were calculated first, then utilizing MSC VISUAL NASTRAN 4D and MATLAB to calculate upper-limb equilibrium position. This procedure was repeated when the robot motion proceed. Each link of the biped robot was drawn by Pro-Engineer and then loaded in MSC VISUAL NASTRAN 4D to serve as simulation parameters. Gait analysis includes walking in the straight line, circling 180° at specific point, S-path, changing velocity, right angle turn and climb-down stairs. With different walking modes, different motor rotation angles, foot and waist paths were obtained. The simulation could provide useful design data when design and construction a hardware biped robot.
