本論文是雙足式氣壓驅動機器人之設計與實現，在機器人的雙腳上各裝置兩根氣壓缸來驅動跨步以及抬腿的動作，另在平台上裝置滑台型氣壓缸進行左右移動的動作來做機器人重心的搖擺，使機器人可以抬腿、換步前進、並保持平衡之。主要是在探討使用氣壓缸來取代伺服馬達以解決伺服馬達過大的體積以及貧乏的扭力需克服氣壓缸先天的不可控制性以及不可定位性。使用FLEX EPF 10K10TC144 的FPGA 板作為控制中樞，撰寫VHDL 的控制指令，使得各氣壓缸精準搭配運作時程，讓機器人能流暢行走。氣壓缸驅動機器人可參考文獻極少，雙足式氣壓缸機器人更是一大挑戰，本論文裡雙足式氣壓缸機器人的材質、結構、動作流程、控制法則，完全自行設計製作，本作品的呈現，乃是氣壓缸驅動機器人台灣本土研究的第一步。 The thesis is “The design and realized of cylinder-biped walkingrobot”. Set two standard cylinders at each lag to step, and set a slide cylinder on the flat-top to move the centre of gravity for keeping balance. So the biped robot can walk and keeping balance at the same time. Discussusing cylinder to displace server-motor on the biped robot to solve the huge habit and dearth torque of server-motor, and try to conquer the uncontrollable and un-orientation of cylinder. Using FLEX EPF 10K10TC144 FPGA board to make cylinders working smoothly and match with each cylinder. The constitution and control rule of cylinder-biped walking robot are all designed by myself.This is the first step of cylinder-biped walking robot research in Taiwan.
