中文摘要：

研究两足机器人质量分布对步行ZMP（zero moment point）稳定阈度及步行效率的影响．采用稳定的参数化步态，在步态不变的情况下，改变机器人各连杆的质量分布，观察其对ZMP稳定阈度及步行效率的影响．仿真实验结果表明，合理选择大腿、小腿和上身的质量分布可以显著增加ZMP稳定阅度和步行效率．

英文摘要：

The influences of biped robot mass distribution on gait stability and walking efficiency are analyzed. Adopting a stable pararneterized gait, the ZMP stability threshold and walking efficiency are evaluated with different mass distributions. Simulation results show that properly selecting mass distribution of thigh, shin and trunk can increase ZMP stability threshold and walking efficiency greatly.