本研究的目的為實現一仿人類自然步態行走之欠致動雙足機器人。以人類自然步態行走時，支撐腳膝關節角度會伸直以降低致動器的出力；擺動腳會經歷腳跟離地（heel-off），腳掌繞腳趾關節旋轉（toe rotation），繼而腳跟碰撞（heel-strike）地面以便邁開步伐、提高行走速度。為了達成此目標，欠致動雙足機器人在矢狀平面上利用賽格威（Segway）動態穩定的概念，使零點動態作為行進的動力，而非軌跡規劃；在額狀平面上藉由腳底壓力感測器所獲得的ZMP資訊，產生機器人腿部的補償動作維持動態平衡，以增加欠致動系統的穩定性。此外，利用基於事件的控制來連貫隨著不同姿態轉變的控制目標，完成雙足機器人的連續行走。研究中以實作驗證模仿人類自然步態行走的可行性，和加入側方向動態平衡對行走的重要性。

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