未來展望

在未來研究展望方面，首先是對於補償控制時影響到感測資訊的變化，我們 希望建立出一套互相作用的關係，使得補償控制可以進一步利用感測輸入影響 CPG 輸出的關係，達到直接修正步態規劃曲線來完成行走的平穩控制；或是透 過補償控制對感測資訊的變化，修改跨步參數的調整，調整跨步的高度和長度，

以及修改控制上半身擺盪的參數，調整上半身擺盪的曲線，使得行走的步態及擺 盪曲線更符合地形的變化，而並非全用CPG 的參數調整來達到，但目的皆是希 望可以直接改善行走曲線，而非加入額外的補償控制器來達到平穩控制。

另外，本論文在感測資訊使用方面，只使用上半身的姿態資訊達成平衡控制，

無法偵測到當擺盪腳落地時所產生使機器人不穩定的衝擊力，而此問題對於本論 文也是一大變因，在本論文中目前是以增長雙腳支撐相的時間來抵銷此作用力，

但未來仍希望透過對於腳底壓力感測器的感測資訊，建立一套對於衝擊力的控制 方法，消除此不穩定因素，使得機器人可以行走的更平穩且行走週期更為加快。

參考文獻

[1] J. Duysens, Van de Crommert and Henry. WAA., “Neural Control of Locomotion.

Part 1: the Central Pattern Generator from Cats to Humans,” Gait and Posture, Vol.7, No.3, pp.131–141, 1998.

[2] A. J. Ijspeert, “Central Pattern Generators for Locomotion Control in Animals and Robots: a Review,” Neural Networks, Vol.21, pp.642-653, 2008.

[3] M. Wang, L. Sun, P. Yuan and Q. Meng, “Periodicity Locomotion Control Based on Central Pattern Generator,” in Proc. of the 6^th World Congress on Intelligent Control and Automation, Dalian, China, June 21-23, 2006, pp.3144-3148.

[4] Larsen, Jorgen Christian, “Central Pattern Generators in Modern Science.”

[5] L. Righetti and A. J. Ijspeert, “Programmable Central Pattern Generators: an Application to Biped Llocomotion Control,” in Proc. of IEEE International Conference on Robotics and Automation, Orlando, Florida, May, 2006, pp.1585-1590.

[6] L. Righetti and A. J. Ijspeert, “Pattern Ggenerators with Sensory Feedback for the Control of Quadruped Locomotion,” in Proc. of IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, May 19-23, 2008, pp.819-824.

[7] K. Watanabe, G. L. Liu, M. K. Habib and K. Izumi, “Neural Oscillators with a Sigmoidal Function for the CPG of Biped Robot Walking,” in the 33^rd Annual Conference of the IEEE Industrial Electronics Society(IECON), Taipei, Taiwan, Nov. 5-8, 2007, pp.128-133.

[8] K. Matsuoka, “Sustained Oscillations Generated by Mutually Inhibiting Neurons with Adaptation,” Biological Cybernetics, Vol. 52, pp. 367–376, 1985.

[9] K. Matsuoka, “Mechanisms of Frequency and Pattern Control in the Neural Rhythm Generators,” Biological Cybernetics, Vol. 56, pp. 345–353, 1987.

[10] M. Williamson, “Neural Control of Rhythmic Arm Movements,” Neural Networks, Vol. 11, No. 7-8, pp. 1379-1394, 1998.

[11] Y. Fukuoka, H. Kimura and Avis H. Cohen, “Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Based on Biological Concepts,” The International Journal of Robotics Research, Vol. 22, No. 3-4, pp. 187-202, 2003.

[12] S. J. Yi, B. T. Zhang and Daniel D. Lee, “Online Learning of Uneven Terrain for Humanoid Bipedal Walking,” in Proc. of International Conference on Association for the Advancement of Artificial Intelligence, Atlanta, Georgia, USA, pp.

1639-1644, 2010.

[13] Miomir Vukobratovi’c and Branislav Borovac, “Zero-Moment Point — Thirty Five Years Of Its Life,” International Journal of Humanoid Robotics, 2004, Vol. 1, No. 1, pp. 157-173.

[14] F. Ali, A. C. Amran and A. Kawamura, “Bipedal Robot Walking Strategy on Inclined Surfaces using Position and Orientation based Inverse Kinematics Algorithm,” in Proc. of IEEE International Conference on Control, Automation, Robotics and Vision, Singapore, December 7-10, 2010, pp.181-186.

[15] M. Ogino, H. Toyama and M. Asada, “Stabilizing Biped Walking on Rough Terrain based on the Compliance Control,” in Proc. of IEEE/RSJ International Conference on Intelligent Robot and Systems, San Diego, CA, USA, Oct 29- Nov 2, 2007, pp.4047-4052.

[16] Jian Li and Weidong Chen, “Modeling and Control for a Biped Robot on Uneven Surfaces,” in Proc. of IEEE International Conference on Decision and Control^, Shanghai, China, 2009, pp.2960-2965.

[17] H. Inada and K. Ishii, “Behavior Generation of Bipedal Robot Using Central Pattern Generator(CPG)(1^st Report: CPG Parameters Searching Method by Genetic Algorithm),” IEEE/RSJ International Conference on Intelligent Robots and Systems, October. 2003, Las Vegas, USA, pp. 2179–2184.

[18] G. Endo, J. Nakanishi, J. Morimoto, and G. Cheng, “Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO,” in IEEE International Conference on Robotics and Automation, April. 2005, Barcelona, Spain, pp. 596–

602.

[19] V. H. Dau, C. M. Chew and A. N. Poo, “Planning Bipedal Walking Gait Using Augmented Linear Inverted Pendulum Model,” in IEEE Conference on Robotics, Automation and Mechatronics, Singapore, 2010, pp. 575–580.

[20] Mei Shuai, Chenglong Fu and Ken Chen “A Real-time Control Method for Humanoid Robot to Walk Stably on Uneven Ground,” in Proc. of IEEE Conference on Robotics, Automation and Mechatronics, Beijing, China, 2006, pp.1~6.

[21] Barkan Ugurlu and Atsuo Kawamura, “Eulerian ZMP Resolution based Bipedal Walking: Discussions on the Intrinsic Angular Momentum Rate Change about Center of Mass,” in Proc. of IEEE International Conference on Robotics and Automation, Alaska, USA, 2010, pp. 4218~4223.

[22] 許煥坤, “雙足機器人之步態補償控制設計,” 國立交通大學電機與控制工程 學系碩士論文，2008.

[23] Krister Wolff, Jimmy Pettersson, Almir Heralic' and Mattias Wahde, “Structural Evolution of Central Pattern Generators for Bipedal Walking in 3D Simulation,”

in Proc, of IEEE International Conference on Systems, Man, and Cybernetics, Taipei, Taiwan, 2006, pp.227-234.

[24] N. Sadati and K. A. Hamed, “Neural Control of a Fully Actuated Biped Robot,”

in Proc. of IEEE International Conference on Robotics and Biomimetics, December 17-20. 2006, Kunming, China, pp. 1299–1304.

[25] H. Kimura, Y. Fukuoka and A. H. Cohen, “Biologically Inspired Adaptive Dynamic Walking of a Quadruped Robot,” in 8th International Conference on the Simulation of Adaptive Behavior, Jul. 2004 , LA, USA, pp. 201–210.

[26] G. Endo, J. Nakanishi, J. Morimoto and G. Cheng, “An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control,” in IEEE International Conference on Robotics and Automation, April. 2004, New Orleans, LA, USA, pp.

3036–3042.

[27] G. Endo, J. Nakanishi, T. Matsubara, J. Morimoto and G. Cheng, “Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot,” The International Journal of Robotics Research, vol. 27, no. 2, pp. 213-228, 2008.

[28] Yuta Hoshino, Chenglong Fu and Ken Chen, “A Passive Walking Strategy for a Biped Robot with a Large Mass Torso by a Spring and a Damper,” in Proc. of IEEE Conference on Mechatronics and Automation, Beijing, China, 2011, pp.1269-1274.

[29] NAO Website: http://www.aldebaran-robotics.com/

[30] F.J.O. Corpuz, B.C.Y. Lafoteza, R.A.L. Broas and M. Ramos Jr, “Design and Implementation of a Closed-Loop Static Balance System for the YICAL Leg 2 Biped,” in IEEE TENCON, 2009, pp. 1-6.

[31] Y. Gao, X. Ruan, H. Song and J. Chen, “Research on Filtering Proble in Inertial Sensors for a Two-Wheeled Self-Balanced Robot,” Chinese Journal of Sensors and Actuators, Vol. 23, No. 5, pp. 696-700, 2010.

[32] C.L. Hwang, H.C. Wu and M.L. Ling, “The Stepping over an Obstacle for the Humanoid Robot with the Consideration of Dynamic Balance,” SICE Annual Conference, August 18-21. 2010, Taipei, Taiwan, pp. 2260-2268.

[33] NAO Simulation Website: http://www.cyberbotics.com/