中文摘要：

在这篇论文，为在开发中的一个类人动物机器人的一个复合两足动物运动算法被介绍。这篇论文在二主要部分被组织。在第一部分，它主要为类人动物集中于结构的设计。在第二部分，复合两足动物运动算法基于参考书运动和参考零时刻点(ZMP ) 被介绍。这个新奇算法包括上面的身体运动和机器人的重心(轮牙) 的轨道的计算。首先，从环境的骚乱被上面的身体的赔偿运动消除；然后基于在象在 ZMP 和轮牙之间的关系一样的参考书 ZMP 和真实 ZMP 之间的错误，轮牙错误被计算，因此导致轮牙轨道。然后，机器人的运动收敛到它的参考书运动，产生稳定的两足动物走。因为上面的身体运动和轮牙的轨道的计算两个都取决于参考书运动，他们能在平行工作，因此对机器人的倒塌提供两倍保险。最后，算法被模拟实验的不同类型验证。

英文摘要：

In this paper, a compound biped locomotion algorithm for a humanoid robot under development is presented. This paper is organized in two main parts. In the first part, it mainly focuses on the structural design for the humanoid. In the second part, the compound biped locomotion algorithm is presented based on the reference motion and reference Zero Moment Point （ZMP）. This novel algorithm includes calculation of the upper body motion and trajectory of the Center of Gravity （COG） of the robot. First, disturbances from the environment are eliminated by the compensational movement of the upper body; then based on the error between a reference ZMP and the real ZMP as well as the relation between ZMP and CoG, the CoG error is calculated, thus leading to the CoG trajectory. Then, the motion of the robot converges to its reference motion, generating stable biped walking. Because the calculation of upper body motion and trajectory of CoG both depend on the reference motion, they can work in parallel, thus providing double insurances against the robot＇s collapse. Finally, the algorithm is validated by different kinds of simulation experiments.