| dc.description.abstract | The goal of this thesis is to design a biped robot which can walk forward and backward smoothly, go up and down stairs, sit down and lift legs, stand up and kneel down. It can also stand up automatically when it falls down. The structure is mostly made up of acrylic boards and using AI-1001 motor as actuator. We can control the degree of the motor through control package with RS-232 protocol and use its response package to detect the angle of the motor for adjust control parameter. The fundamental control strategies contain virtual gear, mirror relation, torque control, linear interpolation, nonlinear interpolation, center of gravity compensation and finite state machine etc. In the design of the intelligent interaction, we use external information to switch the state and the robot can determine the process itself by the data from the orientation sensor. Moreover, the robot can act correctly whether the stairs exist or not by calculating the height of the lifted leg without using any sensors. One of the focal point is using the simplest design to make it act complicatedly. The experiment results also show that the robot can have some intelligent interaction and adaptive ability. Briefly, the greatest achievement of this thesis is to make the robot move smoothly, have best balancing ability and well designed locomotion. | en_US |