中文摘要：

在两足动物机器人的动态走期间，在旋转激活下面，自由度(DOF ) 出现在支持英尺和地面之间，它做两足动物模型混血儿和尺寸变体。这篇论文为 dimension-varianthybrid 系统(DVHS ) 探讨 asymptotic 轨道稳定性。基于概括 Poincare 地图，为 DVHS 的稳定性标准也是介绍，并且结果然后被用来学习的动态走有脚的一个五连接的平面两足动物机器人。时间不变的步法为与扁平的脚的动态走计划和非线性的控制策略也被介绍。模拟结果显示动态走的一个 asymptotically 稳定的限制周期被建议方法完成。

英文摘要：

During dynamic walking of biped robots, the underactuated rotating degree of freedom （DOF） emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant. This paper addresses the asymptotic orbit stability for dimension-variant hybrid systems （DVHS）. Based on the generalized Poincare map, the stability criterion for DVHS is also presented, and the result is then used to study dynamic walking for a five-link planar biped robot with feet. Time-invariant gait planning and nonlinear control strategy for dynamic walking with fiat feet is also introduced. Simulation results indicate that an asymptotically stable limit cycle of dynamic walking is achieved by the proposed method.