中文摘要：

产生低精力步法因为单个、双的支持与零个时刻点(ZMP ) 分阶段执行稳定性的一个参量的方法被介绍。ZMP 稳定性条件被表示为限制到支持脚关节，和两个都走阶段的反的动力学的激活的转矩被调查。一个参量的优化方法被实现它接近由立方的花键功能的轨道在一致地分布式的时间连接了的关节系并且让优化参数仅仅包含描述关键姿势的有限分离状态。因此，步法优化被转变成一个平常的抑制非线性的编程问题。方法的 Theeffectiveness 通过在类人动物机器人 THBIP-I 模型上进行的数字模拟被验证。

英文摘要：

A parametric method to generate low energy gait for both single and double support phases with zero moment point（ZMP） stability is presented. The ZMP stability condition is expressed as a limit to the actuating torque of the support ankle, and the inverse dynamics of both walking phases is investigated. A parametric optimization method is implemented which approximates joint trajectories by cubic spline functions connected at uniformly distributed time knots and makes optimization parameters only involve finite discrete states describing key postures. Thus, the gait optimization is transformed into an ordinary constrained nonlinear programming problem. The effectiveness of the method is verified through numerical simulations conducted on the humanoid robot THBIP-I model.