【摘要】 在建立两足机器人7杆动力学模型的基础上，对迈步腿质心进行抛物线运动规划以达到两足机器人在动态步行时侧向的自平衡。利用上身的前后摆动进行前向平面的动态补偿，然后，按动态补偿量最小的条件用遗传算法对机器人的步态进行了参数化优化设计，最后进行了动态仿真。更多还原

【Abstract】 Based on the 7-link dynamic model, motion of the swing leg of biped robot is planned into a parabola to keep self-balance in lateral plane and body swings forward and backward to dynamically balance in sagittal plane. Then the gait of the biped is specified by parameters such as walking velocity, step length and height, and the genetic algorithm is applied to obtain the optimal parameters on condition of keeping dynamic stability and the minimum of the value of the dynamic balance. Finally the simulation of walking is presented.更多还原