针对仿人机器人多自由度的复杂机械连杆特征，详细分析了机器人运动构型以及步行规划约束、ZMP控制、奇异位姿控制、二维倒立摆等运动模型，提出单双腿交替运动序列并采用离线生成双足步行运动轨迹和在线调整的方法。实验验证了方法有效性。%Aimed to the characteristics of complex mechanical links with multi DOF （degree of freedom） of humanoid robot, the movement construction was analyzed as well as the kinetic models such as walking planning constraint, ZMP constraint, singldar location control, two - dimension inverted pendulm, etc. The method of alternative moving sequence with tile turn of single leg and double legs, and the offline walking track creating and the online adjusting was proposed. The experiment showed the validity of method.
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