Abstract: According to the dynamic walking humanoid robot in the less realized prototype, the polynomial interpolation method is applied to the ankle joint trajectory planning. Combined with known hip motion trajectory, the geometric constraint method is used to get the knee motion trajectory. Whole gait cycle within the joint movement is got. The dynamics walking of the NAO robot is realized. Experimental results prove that the geometric constraint programming of polynomial interpolation method is feasible and effective.

Key words: robot NAO, dynamic gait planning, Zero Moment Point（ZMP）, inverse kinematics solution

摘要： 针对目前仿人机器人动态步行在样机上实现较少的情况，将多项式插值方法运用于机器人踝关节轨迹规划，结合已知髋关节运动轨迹，利用几何约束的方法求取膝关节运动轨迹，得到完整步态周期内各关节运动规律，最终实现NAO机器人的动态步行。实验结果证实了基于多项式插值的几何约束规划方法是可行且有效的。

关键词: NAO机器人, 动态步态规划, 零力矩点（ZMP）, 逆运动学解算