本論文旨在賦予順從式足型機器人具有避障功能，整個機器人除了原先的架構，本研究另外加裝四組超音波感測模組來偵測環境，幫助達成避障之功能。控制器方面，本研究使用六顆由美國Microchip公司所開發生產的單晶片PIC18F4520以及微控制器AT89S52，採用分工的方式完成所需要的功能。PIC18F為8位元單晶片，在實驗中為足部定位控制器。AT89S52為8位元微控制器，在本實驗中為步態和超音波感測模組之控制器。其中利用單晶片AT89S52來接收來自超音波感測器的訊號並運算出障礙物的距離，以達到避障的功能。

The goal of this thesis is to implement obstacle avoiding function to the Compliant Hexapod Robot. Except original equipments, we also implement 4 ultrasonic sensors for detecting surrounding environment that it will have obstacle avoiding function. There are 6 single chips adopted from Microchip and 1 microcontroller from Atmel on the robot. The single chip is an 8-bit chip, it controls the leg location. The microcontroller is also an 8-bit chip, it controls gaits and ultrasonic sensors. The distance to obstacles is calculated by the microcontroller according to the signal from ultrasonic sensors.

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