中文摘要：

足迹规划是仿人机器人运动规划领域的一个新思想．本文建立了仿人机器人足迹规划的模型，并通过构建启发式成本函数，利用A^＊算法予以实现．针对复杂多障碍物环境，特别提出了基于可变落地足迹数量的复合足迹转换模型的方法．仿真实验证明了规划模型和算法的有效性和完备性，规划效果达到仿人机器人在线运动规划的要求．同时，数值实验也证明了在复杂多障碍物环境下复合足迹转换模型的必要性和优越性．

英文摘要：

Footstep planning is a new idea of motion planning for humanoid robots. The model of humanoid footstep planning is presented in this paper, and it is implemented by A ^＊ search algorithm based on the heuristic cost function. Specifically, for planning in complex multi-obstacle environments, a compound footstep transition model based on alterable potential footstep placements is proposed. Simulation experiments verify the validity and completeness of the model and the planning algorithm, and the planning results satisfy the requirements of online humanoid motion planning. Also, numerical experiments verify the good performance of the compound footstep tansition model implemented in planning in complex multi-obstacle environments.