中文摘要：

针对双足机器人的稳定行走,提出了一种预观控制的零力距点（ZMP）补偿步行模式在线生成方法。利用实际ZMP与目标ZMP之间的未来误差信息,基于预观控制计算机器人行走过程中质心的补偿量,事先调整质心轨迹来改变步态。最终使实际ZMP更好地跟踪目标值。12自由度的双足机器人动力学仿真验证了所提出方法的有效性,而且机器人能在一定程度不平整地面上实现稳定行走。

英文摘要：

A method of on-line walking pattern generation based on preview control of the Zero-Moment Poin（tZMP） compensation is presented.A preview controller can be used to calculate the compensation of the Center of Mass（CoM） by the future error between the practice ZMP and the reference ZMP.The CoM trajectory is adjusted in advance to change the gait. Ultimately ZMP tracking error is small enough.A stabilization walking control on uneven terrain is simulated with a 12 DOF biped robot.The simulation results verify the effectiveness of the proposed method.