Abstract: A simple and intuitive scheme about online locomotion pattern generation of dynamic walking for biped robot is presented to solve the complex joint trajectory design.The dynamics model of a five-link planar biped robot is established.By imitating the main characteristics of human walking motion，the complex process of dynamic walking for biped robot is divided by four sequence phases according to the requirements of the posture change of legs for dynamic walking.The locomotion pattern of trunk，the movement of swing leg and support leg，the method of walking speed adjustment are designed in the joint angle space.The stable joint trajectory is generated with online feedback control.Simulation result shows the effectiveness of the proposed method which is simple and easy to be realized.

Key words: biped robot, dynamic walking, locomotion pattern generation, control systems

摘要： 针对双足机器人动态步行生成关节运动轨迹复杂问题，提出了一种简单直观的实时步态生成方案。建立了平面五杆双足机器人动力学模型，通过模仿人类步行主要运动特征并根据双足机器人动态步行双腿姿态变化的要求，将动态步行复杂任务分解为顺序执行的四个过程，在关节空间相对坐标系下设计了躯干运动模式、摆动腿和支撑腿动作及步行速度调整模式，结合当前步行控制结果反馈实时产生稳定的关节运动轨迹。仿真实验验证了该方法的有效性，简单易实现。

关键词: 双足机器人, 动态步行, 步态生成, 控制系统