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中文摘要：
综述了仿人机器人动态步行的研究历史和研究现状。归纳了动态步行的特点,分析了动态步行稳定性判定方法,介绍了基于ZMP的姿态稳定判据和基于庞加莱映射（Poincaré Map）的步态稳定判据。总结了仿人机器人学习适应复杂地面环境步行的方法,概述了动态步行控制实现的典型解决方案,指出了动态步行控制中待解决的问题,并探讨了未来的发展方向。
英文摘要：
This paper surveys the history and current research on dynamic walking control of humanoid robot.The characteristics of dynamic walking are summarized and the stability criteria of dynamic walking are also analyzed.Posture stability criterion based on ZMP（Zero Moment Point） and gait stability criterion based on Poincare map are introduced.The learning methods and adaptation capabilities of dynamic walking on a complex terrain are presented and the typical solutions of dynamic walking control are reviewed.Several problems of dynamic walking control which need to be solved are listed and the development directions are presented.
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