中文摘要：

自然步态规划方法是实现仿人机器人步态柔顺和能量优化的可行方法，该方法要求对人体步行及其平衡策略进行定量研究，本文分析自然步态规划方法的原理，建立了一套快捷有效的人体步态测试系统，并通过实验建立了人体步行的参数化数据库，实验结果揭示了人体步行的参数化特征及其平衡策略，对于仿人机器人的自然步态规划及控制提供了理论指导，结论特点指出，仅仅通过规划的方式实现仿人机器人的自然步态是不完备的，自然步态的实现必须同仿生控制策略相结合，同时实验结论对于仿人机器人的本体优化设计也提供了参考。

英文摘要：

Natural gait planning is a feasible method for energy optimization and gait compliance of humanoid robots; it demands quantitative analysis on the human locomotion and its balance strategy. Consequently the principle of natural gait planning is analyzed. An effectual experimental testing system is proposed and a parametric database of human gaits is constructed via experiments. The experimental result reveals the parametric characteristics of human gaits and its balance strategies which offer theoretical references for natural gait planning and control for humanoid robots. The conclusion specially indicates that the successful natural gait for humanoid robots can not be achieved only by planning, viz. , the planning should be combined with the bionic control strategy. In addition, the experimental results are good references for design optimization of humanoid robot prototypes.