隨著台灣進入高齡化社會，我們即將面臨勞動人口縮減的問題，又傳統工業型機器人無法完成一般生活中較複雜且多變的工作，擁有更多自由度的仿人機器人勢必在未來走入一般生活中。目前七軸機械手臂多以避開障礙物，或是以最節省能量為標準進行運動控制，本研究希望以仿人為標準，設計一套演算流程能夠為人型的七軸機械手臂產生符合仿人的動作。本研究主要分成三個部分。第一部分會針對我們所使用的機械手臂構型進行逆向運動學的優化，試圖找到一個能夠快速且正確率高的演算法。第二部分會針對仿人的課題進行討論，我們會先找到一個判斷標準來認定哪些姿勢可以被認為是仿人的動作，接著我們會建立一個修正的機制讓被判斷為非仿人的姿勢可以被修正。第三部分為實作，我們為前面提到的演算法建立程式的函式庫，並套用在人型的七軸機械手臂。

As Taiwan becomes an aging society, we were forced to face the problem of shrinking labor population. Traditional industrial robots could not complete various and complex tasks, therefore, humanoid robots with more degrees of freedom are destined to aid us in our everyday life in the future. At present, robots with 7 degrees of freedom are mostly used in situations where it has to avoid obstacles or running on motion control that is designed to operate in the most energy-efficient way. In this study, we focus on creating an algorithm that could generate human-like motion for a humanoid robotic arm with 7 degrees of freedom. This research contained three main parts. In the first part, we would be optimizing the inverse kinematics algorithm according to the joint configuration of the robotic arm we are using, and try to tune it to be fast and accurate. The second part is about human-like posture for the robot. We would first find a classifier that can determine whether the posture is or isn’t human-like, then we will establish a fixing mechanism for the postures that are nonhuman-like. For the third part, we built a code library based on the result of the previous parts and apply it to the humanoid robotic arm.

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