中文摘要：

输入转矩是 themain 力量维持机器人走的两足动物，并且能从轨道在两足动物机器人上计划并且动态建模计算。在两足动物走期间，输入转矩通常被要求由于在动态模型从客观或主观的因素产生维持预告计划的稳定的轨道的一些不明确的参数被调整。这里，一个平面 5 连接两足动物机器人被用作一个说明例子在输入转矩上调查不明确的参数的效果。两足动物机器人的运动学的方程被第三顺序的花键曲线第一基于计划方法的轨道建立，并且动态建模被拿两个完成肯定、不明确参数进说明。下次，输入转矩上的几个评估索引被介绍关于不明确的参数执行输入转矩的敏感分析。基于蒙特卡罗模拟，最后，输入转矩上的评估索引的值被介绍，从哪个所有机器人参数被分类进三个范畴，即，强烈敏感、敏感、几乎感觉迟钝的参数。

英文摘要：

Input torque is the main power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to be adjusted due to some uncertain parameters arising from objective or subjective factors in the dynamical model to maintain the pre-planned stable trajectory. Here, a planar 5-link biped robot is used as an illustrating example to investigate the effects of uncertain parameters on the input torques. Kine-matic equations of the biped robot are firstly established by the third-order spline curves based on the trajectory planning method, and the dynamic modeling is accomplished by taking both the certain and uncertain parameters into account. Next, several evaluation indices on input torques are intro-duced to perform sensitivity analysis of the input torque with respect to the uncertain parameters. Finally, based on the Monte Carlo simulation, the values of evaluation indices on input torques are presented, from which all the robot param-eters are classified into three categories, i.e., strongly sensi-tive, sensitive and almost insensitive parameters.