中文摘要：

在平面双足机器人上应用虚拟斜坡行走方法设计了具有4个参数的步态生成算法．根据虚拟斜坡行走成立的基本条件研究了步态参数之间的关系，最终将独立参数减少到3个．步态参数具有明确的物理意义，可以实时地、便捷地调节行走速度．在平面机器人Stepper上采用所提出的步态生成算法，实现了1．24-3．88腿长／秒的连续速度切换．

英文摘要：

This paper designs a gait generation algorithm with 4 parameters for planar biped robots using virtual slope walking method. The relationship among the parameters is studied based on the existence conditions of virtual slope walking, and the independent parameters are reduced to 3, The final parameters are clear in physical significance and the walking velocity can be easily manipulated in real time. Experiments with the presented gait generation algorithm are made on planar robot Stepper, and continuous speed switch of 1.24-3.881egs/s is realized.