消息來源 http://roy-yulin.blogspot.com/2007/03/dexter.html

如同文章中所提到的，人類已經將機器人廣泛的應用於工業之中，如汽車生產線的機械手臂，或是已經有模仿地球上其他生物的機器人。

但雙足機器"人" 卻一直是人類的夢想：希望可以真正地做出一個外觀及動作皆一模一樣的機器人。

相信各位有在電視節目上看過Honda的Asimo、Sony的Qrio及Toyota的機器人。這些與Anybots所開發的Dexter有極大的不同，即Dexter為"動態"平衡。

Anybots的網站(http://anybots.com/abouttherobots.html)提到

Dexter is quite different from other robots that have walked on two legs. The Honda ASIMO and related robots use a walking algorithm called Zero Moment Point or ZMP, a geometrical constraint that guarantees stability. To use this approach, a robot must have stiff joints (driven by geared servo motors) and fairly large feet. In the simplest version, the robot is given pre-planned movements that guarantee that a perpendicular drawn from the center of whichever foot is on the floor passes through the center of gravity, with some compensation when it accelerates. Such a robot does not need active balance feedback to walk. While the most advanced ZMP-based robots do include active balance control to adapt to sloped floor surfaces or external forces, this is a refinement to a passively stable gait.

簡單地說，Asimo或其他種類機器人皆利用稱為Zero Moment Point(ZMP)的演算法，利用此演算法可某種程度地將動作預先規劃好，且保證腳會通過重心。

Dexter has a different, more human-like body on which ZMP control does not work. Its joints, driven by air cylinders, are springy and flexible like human muscle. There are no stable postures that it can be put in where it can balance without active feedback, so it has to constantly adjust based on its sense of balance, the robot equivalent to your inner ear. It walks and balances the same way humans do, even wearing the same shoes humans wear.

而Dexter是使用更類似人類肌肉的構造，且可以如同人類的內耳平衡機制於任何姿態中取得平衡。甚至在穿上人類所穿的鞋子後也能達成。

由下面的兩個影片就可以看出機器人領域驚人的進步!

Dexter具有學習的機制

看來i.robot中的機器人有機會實現了，也難怪來源作者的眼睛看到要凸出來了。