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Biped robot with heterogeneous legs (BRHL) is a new pattern humanoid robot. 摘要异构双腿行走机器人(BRHL)是一种全新的类人机器人模式。
The objective of this study is to obtain dynamic stable cycle gait for underactuated biped robot. 以欠驱动双足机器人为对象研究其周期稳定的动态步态规划方法。
The gait of a biped robot climbing stairs consists of foot trajectory and hip trajectory. 摘要将双足机器人上楼梯的步态规划问题分解为脚踝运动轨迹和臀部运动轨迹的规划问题。
The purpose of the thesis is to find a walking trajectory for a walking biped robot to walk stably. 摘要:本论文的研究重点为如何产生能让机器人平稳行走的步行轨迹。
Abstract ： Comparing with wheeled robot, the biped robot has more flexible mechanical system. 摘要：与轮行机器人相比，双足机器人具有更灵活的机械结构。
The main aim of this thesis is to develop a biped robot which walk stably in various enviroments. 摘要:本论文主要是设计一个能在不同环境下稳定行走之双足机器人。
The goal of this study is design a 16-D.O.F biped robot and simulate walking pattern of biped walking robot. 摘要:本论文主要研究的是模拟16个自由度的双足步行机器人之步行规划与平衡控制。
The second case is to track a series trajectory plans of walking for the biped robot. 透过计算，我们可以得到所有连杆的几何关系。利用连杆的几何关系，我们可以得到所有连杆的角度变化。
Simulations show that the underactuated biped robot realizes stably 3D dynamical walking and the two stategies are all effective. 仿真实验表明，机器人实现了稳定的3D动态行走，达到了预期的控制效果。
The paper aimed its target at the research and exploitation of soccer body action of biped robot, which implied heavy workload and great challenge. 本论文的目标正是两足机器人足球肢体动作的开发与研究，工作量大、挑战性强。
In this thesis, model following adaptive fuzzy tracking control is presented for multi-input multi-output (MIMO) biped robot. 中文摘要在本论文要探讨一个适应模糊控制器针对于这个多输入多输出参数未知的二足机器人。
C. Long, Ascending and Descending Stairs for a Biped Robot, IEEE Transactions on Systems, Man and Cybernetics, Part A, Vol.29, pp.255-268, 1999. 陈澄峰，二足机器人行走模式之研究，硕士论文，大叶大学机械工程研究所，2002。
When biped robot walks on the uneven ground,over-obstacle motion needs to be generated in response to terrain character. 两足机器人在崎岖不平的地面上行走时,需要根据地形特征产生相应的越障步行运动。
To provide an ideal testing platform to develop intelligent bionic legs,a new mode of humanoid biped robot with heterogeneous legs(BRHL) is proposed. 为了给智能仿生腿的开发提供一个理想的研究平台,提出了异构双腿行走机器人(BRHL)这一全新的类人机器人模式。
Collaborative simulation can do multi - filed simu lation,avoid heavy works of manual modeling, and offer foundation for the study of biped robot. 虚拟样机联合仿真方法面向多领域，可避免复杂的人工建模和求解过程，仿真逼真且接近实际系统，为双足机器人物理样机的研制提供依据。
Biped Robot, an interdisciplinary of bionics, mechanism design, computer control theory and artificial intelligence, achieves broad and long attention from scholars. 两足机器人作为仿生学、机械设计加工、计算机控制理论和人工智能等多种学科形成的交叉学科，长期受到广大研究学者的关注。
K.Loffler, M.Gienger and F.Pfeiffer, Sensors and Control Concept of a Biped Robot, IEEE Transactions on Industrial Electronics, Vol.51, pp.972-980 , 2004. 陈盈翰，多自由度双足机器人之设计与控制实现，硕士论文，国立中央大学电机工程研究所，2006。
This paper addresses time-invariant gait planning and finite-time nonlinear control strategy for a five-link, four-actuator planar biped robot to realize dynamic walking. 摘要以五杆四驱动的平面双足步行机器人为对象，研究了其动态步行的时不变步态规划和限定时间的非线性控制策略。
The experimental results are shown that the angle input by the user can be adjusted through the back-propagation neural network for the intelligent control of the biped robot motions. 实验结果证明，依使用者自行输入的角度，并且透过倒传递类神经网路应用于二足机器人运动中，能让机器人自动的调整重心之对应踝关节角度，以达到智慧型控制。
Finally, we use the generic algorithm to estimate the best trajectory of each joint from position of the COP of the biped robot.And, a mini biped robot is implemented for handwork practice. 最后规划出机器人步行时重心移动的轨迹，利用遗传演算法搜寻出稳定行走时各关节马达的实际角度，使人行机器人能够稳定行走。