中文摘要：

以蛇怪蜥蜴为仿生对象，设计了一种足式水上行走机器人．鉴于水面环境的复杂性，提出利用计算机仿真的方法构建足式水上行走机器人及其外界环境整个系统的数学模型．分析了现有的ZMP（zeromomentpoint）算法难以适用足式水上行走机器人控制的原因，提出机器人的CPG（centralpatterngenerator）模糊控制方法．设计了足式水上行走机器人的CPG控制器和模糊控制器，进行参数分析，完成了机器人整个控制系统的搭建，并进行了仿真验证．最后进行了机器人户外水上行走实验，测定了水上行走过程中的实时偏角．实验结果表明该控制方法有效．

英文摘要：

A kind of foot robot walking on water is designed according to bionic object basilisk lizards. Because of the complexity of the water environment, the computer simulation method is used for building the entire system of foot robot walking on water and external environment. In view that existing ZMP （zero moment point） algorithms aren＇t suitable for controlling foot robot walking on water, a CPG （central pattern generator） fuzzy control method is proposed. Parametric analysis, complete control system construction and computer simulation are finished based on the designed CPG controller and fuzzy controller for foot robot walking on water. Finally, the outdoor experiment of the robot walking on water is accomolished, and the real-time declination is determined. Re~nlts show that the proposed control method is effective.