介绍一种解决双障碍问题的迭代算法，该算法称之为内点迭代算法。
This paper presents a new iterative method which is called interior-point-iterative algorithm for solving the bi-obstacle problems.
在双足机器人跨越动态障碍物的在线控制问题中，脚步规划和步态控制的学习时间是关键问题。
In the question of on-line control for biped robot to step over dynamic obstacle, the learning time of footstep planning and gait pattern training is a crucial problem.
以往的双足机器人路径规划控制策略只能解决静止或以可预测速度运动的障碍物的越障问题。
The previous control strategy that has been adopted to solve the path planning problem of biped robot can only handle the static or predictable obstacle avoiding problems.
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