本研究旨在探討如何增加機器人站立、行走時之強健性，由於傳統PD控制演算法需透過回授高精準的重心位置資訊，而該資訊易受雜訊、人為裝設感測器偏差，以及機器人姿態改變而影響，故實際上，精準的資訊不可得。
本研究運用實驗室特有之控制演算法Zero Torque Control method(ZTC)，將其實踐在單足機器人、雙足行走機器人上，透過在MATLAB上進行模擬與改變重心位置的實驗來驗證ZTC對於機器人穩定性的改善，使其不僅能達到修正慣性感測器(IMU)讀取重心資訊的不精準問題，亦能達到調整姿態提高穩定性，以及行為反應更接近人類的最終目的。

The research was focused on increasing the walking and standing stability of a robot. The traditional method needs accurate Center of gravity (COG) information; however, the exact signal cannot be acquired. In fact, the signal is liable to be contaminated by noise and inertial measurement unit (IMU) may be inappropriately installed. Moreover, COG is significantly influenced by the posture of robot. A novel control method, zero torque control method (ZTC), is adopted in this research.

To estimate the COG during the control process. The control algorithm is implemented on a one-leg robot and a humanoid robot. In order to verify the ZTC control method on the improvement of robot walking stability, a MATLAB simulation and COG-changing experiments were executed. The results showed ZTC is able to correct the inaccurate information from IMU to modify the robot posture as well as to improve the stability of walking robot.

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