中文摘要：

为提高双足机器人的机动性以适应更宽更广的应用领域，提出一种在线规划方法．该方法根据最新的控制命令生成足迹，然后利用动力学方程的解析解在线同步规划质心（CoG）轨迹和零力矩点（ZMP）轨迹，并基于离散化算法解决机器人速度改变较大时局部ZMP轨迹的扰动问题，使其符合稳定性判据．该方法可使机器人在行走过程中一步实现任意的足迹改变，具有很高的机动性，经过在实体机器人Nao上进行效果验证并取得预期结果．

英文摘要：

The increase of flexibility of biped robot brings larger application range. Aiming at this problem, a real time planning meth- od is presented. This method generates footstep according to the latest command. Trajectories of Center of Gravity （ CoG ） and Zero Moment Point （ZMP） are simultaneously planned in real time based on the analytical solution of dynamic equation. This method also solves ZMP fluctuation problem by using a discretization method. The robot is able to change to arbitrary footstep by only one step. We conducted experiments on a real robot named Nao and obtained the expected results.