中文摘要：

对于四足机器人过崎岖路面的问题，利用A算法，以最低代价为目标函数得到较优备选路径，然后利用1个二阶系统结合4个优化指标，对备选路径进行比较，选择出1条较优路径。仿真实验结果证明了此方法的有效性。

英文摘要：

Con ruped walking on sidering the problem of the quad- the known rough terrain,we use A algorithm, regarding the lowest energy as tar- get function,to solve the global path planning, and apply a second - order system model and four opti- mization indexes to compare the selected routines, in order to choose a better one. The effectively of the proposed method could be well verified by the simulations.