中文摘要：

为了既能验证动态步行的理论结果，又能满足经济性的要求，本文设计并实现了一种基于总线型伺服电机的平面无脚双足机器人THR-I．首先介绍了该机器人的系统构成，包括机械结构部分和控制系统部分；在建立步行动力学方程时，考虑了中心约束系统的耦合影响．然后，利用虚拟约束原理，设计了步行约束，并成功实现了步行周期为0．64s、步幅为腿长的0．56倍的快速动态行走．

英文摘要：

To verify the-theoretical results of dynamic walking and satisfy the economy requirements, this paper designs and implements a planar footless biped robot THR-I based on bus servo motor. Firstly, the configuration of the robot, including mechanical design and control system, are introduced. During the establishment of walking dynamic equations, the coupling effect of central constraint system is considered. Secondly, walking constraint is designed based on virtual constraint principle, and fast dynamic walking with the period of 0.64 s and the step of 0.56 leg length is successfully realized.