中文摘要：

对两足步行椅机器人的人在环中的控制系统的稳定性控制进行了初步研究，对这种系统的特殊性进行了分析。运用零力矩点（ZMP）的稳定判据方法研究了步行椅机器人行走过程中乘客移动对系统稳定性的影响，对影响系统稳定性的乘客摆动角、角速度及角加速度参数进行了仿真实验和分析，在此基础上研究了机器人对乘客的不稳定因素的补偿性控制并进行了仿真实验。实验结果表明，在实时控制中增加对乘客的位姿控制，可以在尽量减小步态调整幅度的同时很好地保证系统的稳定性。

英文摘要：

The research on stability control for biped walking chair robots with human-in-the-loop was carried out. The inherent properties of the robot systems were analyzed. The robot systems＇ walking stability influenced by passengers＇ movements was simulated based on the zero moment point （ZMP） theory, and the effects of passenger＇s movements on the system stability were analyzed according to the simulation results. The compensatory control was introduced with simulation. The passenger＇s posture is controlled in real time to keep the system＇s stability. Simulation results prove that the control method can reduce the adjustment range of gait and keep the system stable at the same time.