中文摘要：

研究双足机器人步行跟踪稳定性能的控制优化问题。针对双足机器人多关节、强耦合、变结构特点以及因外力干扰容易造成机器人在步行过程中各关节偏离预定轨迹而失去平衡的问题，提出了一种离线步态优化与在线步行控制相结合的控制算法，采用对位学习的多目标粒子群算法以稳定裕度大、能耗小为目标对机器人步态进行优化，通过计算种群成员对位点的方式更新种群，达到快速收敛的目的，并设计了自适应控制器以提高控制系统的鲁棒性，仿真结果表明，采用改进方法规划的步态能够实现双足机器人稳定、协调的行走，控制系统具有良好的动态响应特性。

英文摘要：

This paper studied the control and optimization of locomotion stability for biped robot. In view of the characteristics of multiple joints, strong coupling and variable structure of biped robot and the problem of losing bal- ance for the deviation of robot joints from the planned trajectories caused by external disturbance during walking, a hybrid control scheme of offline gait optimization and online control was proposed. A multi-objective particle swarul optimization algorithm based on opposition learning was developed to optimize the walking gait, which aims to improve the stability margin reduce energy consumption. For speeding convergence, the mechanism of updating the population by computing the opposite entity was adopted. In order to improve the robustness, an adaptive controller was con- structed. Simulation results indicate that biped robot can walk naturally and stably with the gait generated by the pres- ented approach and the control system has good dynamic response characters.