中文摘要：

依据仿人机器人跑步的动力学特性，通过对仿人机器人虚拟加速度传感器输出的信号进行分析，建立了仿人机器人跑步相关特征值的概率模型．针对仿人机器人的结构，分析了在整个跑步过程中惯性力和弯矩的作用，对跑步状态的影响，获取虚拟加速度传感器输出的信号，采用小波变换分析动态信号，同时进行快速傅里叶变换，在频域上提取能量特征值．使用马氏距离作为稳定跑步的判定标准，并给出了定量描述．在ADAMS软件中搭建仿人机器人，虚拟加速度传感器设置在质心处，进行跑步仿真实验，仿真实验结果表明，该模型能够反映仿人机器人的跑步特性，仿人机器人能够在跑步状态发生改变时，根据跑步特征及时调整步态，保证其稳定性．

英文摘要：

In this paper, according to the dynamics of running humanoid robot, a probability model of running state analysis for humanoid robot is proposed based on the feedback of virtual acceleration sensor. Inertial force affects the running state of humanoid robot during the course of running. The value of acceleration can express inertial force. So we can obtain dynamic feedback from the virtual acceleration sensor built in humanoid robot to illustrate the running state of humanoid robot, and can analyse dynamic feedback from virtual acceleration sensor by using wavelet transform and fast Fourier transform. The probability model of running state analysis for humanoid robot is formulated by energy eigenvalue abstracted in freqency field. Using Mahalanobis distance as a criteria for stable running of humanoid robot, this model can express humanoid robot running state quantitatively. Simulation is conduct for humanoid robot model built with ADAMS, and the virtual acceleration sensor is built in the center of mass for humanoid robot. The experimental results show that this model is able to describe the running of humanoid robot and express the running state of humanoid robot during the course of running including start gait and stop gait, and it can help humanoid robot adjust their gaits with the change of environment to ensure their running stability.