To realize dynamic walking of the humanoid robot, robot dynamic models have to be established, the control algorithm for gait and the stability postures should be designed.
实现类人型机器人动态行走，必须对机器人进行动力学建模、步态设计和稳定姿态控制算法设计。
The key of quadruped robot walking control is stability, choice of gait and location and gesture of arthrosis.
四足机器人爬行控制的关键是机器人稳定性的判断、步态的选择和关节位置姿态的确定。
Absrtact: Gait control strategies are an important factor affecting the walking stability of bipedal robots.
摘要：双足机器人的步态控制策略是保证双足稳定行走的重要条件之一。
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