中文摘要：

两足步行椅机器人是一种替代轮椅或假肢、为残疾人服务的助残机器人。这类机器人在复杂的使用条件下，各种参数对步态规划及其稳定性的影响分析研究具有重要意义。本文首先根据与步态规划密切相关的机械结构特点、自由度以及关节配置等建立了步行椅机器人的简化模型以及步态规划的算法，然后基于ZMP理论和稳定裕度的概念，确立了主要步行参数与稳定性之间的关系，提出了动态步行的稳定性判据，分析了步态规划中步行参数对于稳定性的影响，并给出了在不考虑参数间耦合影响的前提下步态规划中参数选择的合理范围。

英文摘要：

A biped walking-chair robot serves the disabled by replacing their wheel chairs or artificial limbs. Its use in complicated conditions sheds light on the analysis of the influence of its various parameters on gait planning and stability. First, the paper established the robot＇s simplified model and its gait planning algorithm according to the mechanical construction feature, degree of freedom and configuration of joints that are closely related to gait planning. Then, based on the zero moment point（ZMP） theory and the stability margin concept, it determined the relationship between principal walking parameters and stability, presented stability criteria for dynamic walking and analyzed the influence of walking parameters on stability during the course of gait planning. Finally it put forward the reasonable scope of parameter selection during gait planning under the precondition of no consideration of parameters＇ coupling effect.