中文摘要：

步行机器人作为一种载运工具适应地况能力强，结构复杂，运动控制难。实现类人型机器人动态行走，必须对机器人进行动力学建模、步态设计和稳定姿态控制算法设计。其中，数学模型的建立一直是一个机构学难题，在类人型机器人研究中起着重要作用。讨论了应用欧拉方程建立步行系统的机械模型，提出了一些简化条件，然后用欧拉方程表达了构件的旋转和线运动及关节处的力矩模型，并在此基础上研究了定常步行时简化步行机器人的运动方程式，为进一步研究定常步行机器人甚至变步长机器人的运动学提供了又一理论工具。

英文摘要：

Walking robot has complicated structure and strong ability to adapt ground condition, also it is difficult to control. To realize dynamic walking of the humanoid robot, robot dynamic models have to be established, the control algorithm for gait and the stability postures should be designed. The modeling of robot plays an important role in the robot research. The method of using Euler equation to establish the mechanical model of the walking system is discussed, some simplified conditions are proposed, and the rotation and linear motion of components and the kinematic model of the joint places are expressed with Euler equation. Based on these, the confined condition and kinematic equation of the simplified walking robot are investigated while steady walking. For further study kinematics of steady walking robots and even step-size change robots it offers another theory tool.