关键词: 欠驱动双足机器人, 步态规划, 遗传算法, 时不变步态

Abstract: The objective of this study is to obtain dynamic stable cycle gait for underactuated biped robot.The miscellaneous dynamic model of the robot is built first and then gait is planned by time-invariant strategy.Since the stability of the cycle gait is determined by its parameters，genetic algorithm is introduced to optimize them and using optimal moment as the goal and restrictive conditions as the punish functions.Virtual prototype is used to simulate the walking process and verifies the gait.Simulation shows that joints movement convergence to stable limit cycles，planned walking pattern is realized，and feasibility of the proposed method is verified.

Key words: underactuated biped robot, gait planning, genetic algorithm, time-invariant gait