步行機械人也許比不上有輪子的交通工具來的快速、普遍，但是在沒有舖設道路，崎嶇的未知地形的場合中，便是不可或缺的角色。本文將針對滿足靜態穩定步態的步行機械人，要如何得以較快的速度前進進行討論。
觀察四足機械人前進時，由於其左右寬度不會改變，所以我們可以利用軸向穩定度取代實際穩定度，來簡化步態的問題，並且得到最佳的直行步態。
以往對於機械最佳步態的研究，通常都只針對單一種運動型式作探討。這是因為各種不同運動步態本身的相關性就不太高，如果更進一步的討論條件限制更嚴苛的最佳步態時，差異性更大。但如果我們能夠了解從任意起始位置開始，進入該運動方向最佳步態的方式，便可以將不同的運動型態連結起來。
自從1968年McGhee將四足機械人的模型建立之後，其行走性能似乎被諸多的設定有所限制。在本文中，我們將試著改變腳步的工作範圍以爭取更快速的移動。
至於多足機械人的研究大部分都集中在四足以及六足上，如果再有更多腳加入，討論的文章便更少了。一個步行機械人要穩定行走，最少需要四隻腳。一個四足機械人可以視為一個基本單位，將多足機械人分解成多個四足機械人，並且使用四足機械人步態分析的方法來分析多足機械人，可以簡化多足機械人的步態分析。

Walking machines may not be more common or faster than the transportations with wheels. It can’t be ignored in the occasions of unknown terrain. This paper is going to discuss about how a walking machine get faster and be static stable.
When the quadrupeds walk toward, the wide won’t be changed. So that, longitudinal stability margin can take the place of stability margin to simplify gait problems. Meanwhile we can get the optimal gait.
In the past researches, there is only one kind of walking type will be discussed in one time. This is because there are not so many relationships between different kinds of movement. If we take one step ahead to discuss the optimal gait, it will be more difficult. If there was a way to get into optimal gait from random initial position, we can connect one movement with the other.
The velocity was constrained while the quadruped modal has had been made since 1968 by McGhee. We will try to change the working area to approve the performance.
As to the researches of multi-legs walking machine, most of them talk about quadrupeds and hexapods. it will be less if the more legs we are talked about. To maintain stable tread, a walking machine request four legs at least. We can regard a quadruped as a unit, and divide a multi-leg working machine in to many quadrupeds. By using the method of quadruped analysis, we can simplify multi-legs gait algorithm problems.

頁次
摘要……………………………………………………………………….... I
目錄 ………………………………………………………………………..II
圖目錄 ……………………………………………………………………..VI
表目錄 ……………………………………………………………………XI
符號說明 …………………………………………………………………XII
第一章 緒論 ………………………………………………………………..1
1-1文獻回顧 ……………………………………………………………….1
1-1-1關於機械人的機構設計..………………………………………1
1-1-2關於機械人的步態規劃 ………………………………………..5
1-1-3關於機械人的避障控制 ………………………………………10
1-2 研究目的 ……………………………………………………………11
第二章 四足步行機械的步態最佳化 ……………………………………12
2-1 軸向穩定度 …………………………………………………………..13
2-2 符號及函數表 ………………………………………………………..16
2-3 軸向穩定度與實際穩定度的差異 …………………………………..16
2-4 各種步態之軸向穩定度與實際穩定度的比較 ……………………..22
2-5 利用軸向穩定度來探討四足機械人最佳步態 …………………….24
第三章 自任意起始狀態進入最佳步態 …………………………………27
3-1 不同運動之間的差異 ………………………………………………..27
3-1-1 四足機械人的六種舉腳順序 ……………………………27
3-1-2 各種步態最佳起始位置與最佳舉腳相位瞬間位置 ………29
3-2 任意起始位置進入最佳步態 ………………………………………..37
3-2-1 滿足直行步最佳舉腳順序的條件 ………………………….37
3-2-2 舉腳機制與重心移動時機 ………………………………….38
3-2-3 舉腳順序混淆及負穩定度的解決方法 …………………….39
3-2-4 最佳相位的達成 …………………………………………….45
第四章 工作範圍的討論 …………………………………………………49
4-1 工作範圍對運動性能的影響 ………………………………………..49
4-2 利用改變工作範圍來避免腳步重疊 ………………………………..50
4-3 改變工作範圍來增加最佳步態的運動性能 ………………………..55
4-4 可增加的最大工作範圍 ……………………………………………..60
第五章 4+2足模組化步態規劃 …………………………………………62
5-1 模組化的概念 ………………………………………………………..62
5-2 將四足視為一個基本多足機械人單位 ……………………………..63
5-3 模組化法則 …………………………………………………………..63
5-4 穩定度的探討 ………………………………………………………..65
5-5 4+2足最佳步態 ………………………………………………………71
第六章 結論……………………………………………………… ………74
參考文獻 …………………………………………………………………..77

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