順從式足型機器人(Compliant Hexapod Robot) 是一種同時具有足型和輪型機器人特徵的機器人架構，藉由不斷的旋轉順從足部機器人可以順利的克服障礙物並達成移動及轉向等控制。當機器人在不同性質的地面移動時會產生不同的摩擦力，造成機器人移動距離控制上的差異，因此本論文的目的在研究順從式足型機器人的足部力量控制，藉以改善順從式足型機器人在移動時的操控性，為了實現足部力量控制本研究在控制命令中定義了4bits 的空間，所以馬達控制器總共可以產生16種不同的PWM 脈波寬度和馬達力量輸出。新增的足部力量控制不但增加機器人在移動時的操控性，以及轉向控制穩定性，此一架構也提供特殊移動步態設計上可行性。

Due to the movement of Compliant Hexapod Robot is achieved by the force between legs and ground. Therefore, different roughness of land could result in different control force.
The purpose of this paper is to design the control force of complianthexapod robots so as to improve the stability of Compliant Hexapod Robot. In order to accurately control the legs of a robot, 4-bit force command is proposed.
The force command would generate 16 kinds of PWM duties to change the motor output. The proposed scheme could also provide the feasibility to design special gaits.

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