本研究旨在建立一套雙足機器人的行走方法，以簡單的欠致動系統:賽格威（Segway）的零點動態為出發點，利用其特性設計機器人行走策略，希望藉此提升機器人的運動速度以及效率。
理論分析部分，將賽格威（Segway）輪子部分與機器人下半身做近似，將輪子陸續換為夾角固定的八角輪與擺動腳、支撐腳作分析，接著經由機器人上半身與擺動腳的控制策略，達成在矢狀平面(sagittal plane)部分等速前進的目標。實作部分加入額狀平面的動態平衡與矢狀平面的行走策略相配合，驗證行走的可行性。

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