中文摘要：

针对双足机器人步行问题，提出了一种基于分离设计／集成优化的步态规划方法。基于双足机器人的步行特征，实施多时空和多关节的任务分离，进而实现多时空关节的步态分离规划。进一步基于零力矩点理论，提出了一种综合机构修正和步态修正方法的步态规划集成优化策略。这种基于分离设计／集成优化的步态规划策略极大简化了复杂多关节双足机器人的规划过程，仿真研究表明了该方法的有效性。

英文摘要：

A composed design/integrated optimization gait programming method for the biped robots was proposed. Based on the features of the bipeds, the locomotion of the multi-joints in the multi-spaces was decoupled and the composed gait design was performed with the decoupled time-space method. Furthermore, based on the ZMP theory, the structure and gait optimization method were integrated to modify the gait locomotion. The proposed composed design/integrated optimization method makes the programming process simple, and the successful simulation results demonstrate the effectiveness of the proposed method.