In order to the legal mechanism of biped humanoid robot becomes more compact and flexible, a new scheme combined serial and parallel structure was proposed for leg design of biped robot.
为使足行拟人机器人的下肢机构结构更加紧凑灵活，提出了一种串并联结构相结合的双足步行机器人下肢机构设计方案。
The stability of humanoid biped robot is analyzed and researched in this paper, the dynamic model is built and the method of fuzzy optimization is used to analyze the parameters of the robot.
文章主要是对仿人型两足机器人(简称仿人机器人)的运动稳定性进行分析、研究，建立了一套动力学模型，并运用模糊优化的方法分析其运动参数。
Directed expensive at the present price of humanoid robot, a low cost small biped robot used for research is designed.
针对现有仿人机器人造价高的缺点，文中设计了一款低成本的小型双足机器人研究平台。
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