中文摘要：

灵长类仿生机器人是通过智能机械手段模仿灵长类运动的一类机器人，针对其悬臂运动仿生的控制研究是该领域的热点。综述了目前灵长类仿生机器人悬臂运动仿生控制的研究方法，给出了悬臂运动仿生控制的一般方法与基于“动态伺服”理论的悬臂运动仿生控制策略，提出了悬臂运动仿生控制中亟待解决的若干问题，并对今后灵长类仿生机器人悬臂运动仿生控制进行了展望。

英文摘要：

Primates-like bionic robot is a kind of intelligent machines to mimetic the dexterous motion of primates, and the brachiation control of it is the hotspot in this area. The control method of brachiation control of primates-like robot during recem years is overviewed, and design methods of the normal brachiation control and the dynamical servo based on brachiation control are introduced. Several problems which require further investigation of brachiation control are discussed. The future research directions of control for brachiation of the primates-like robot are pointed out.