双足跑步机器人控制方法研究概述

A Survey of the Research on Control Methods for Biped Running Robot

摘要: 综述了双足跑步机器人的研究历史、研究内容和进展以及未来研究方向．首先系统介绍了目前已实现跑步的双足机器人平台．随后归纳和讨论了双足跑步控制策略和跑步运动的稳定性判定方法；还介绍了跑步步态模式规划以及走、跑步态模式转换的研究进展．最后探讨了双足跑步机器人的研究方向．

Abstract: This paper reviews the research history,contents and future directions of biped running robot.A systematic introduction about biped running platforms is given first.Then the control strategies and determining method for stability criterion of biped running are summarized and discussed,and the running gait mode planning and its transition with walk are also introduced.Finally,the future research work about biped running robot is discussed.