中文摘要：

穿戴下肢外骨骼的数字人在虚拟人机系统运动仿真中应具有稳定自然的步态,因此需要研究步态规划方法。分别应用动力学模型方法和被动动力学方法进行了数字人的步态规划,并基于Matlab/Adams完成了协同仿真试验。试验结果表明,在人机耦合系统运动仿真中,两种步态规划方法都具有可行性,前者具有较高的步态稳定性,而后者具有更高效和自然的步态特点。

英文摘要：

In order to get stable and natural gait of numerical man with lower exoskeleton in the dynamic simulation of virtual man-machine system,the study of gait planning methods is required.The gait of numerical man was planned and simulated in the environment of Matlab and Adams by dynamics model method and passive dynamics method respectively.The simulation results show that both methods are practicable in the dynamic simulation of virtual man-machine coupling system.The former method performs a high stability gait,while the later has a more efficient and natural gait.