Abstract: Lateral stabilization control of underactuated biped robot is presented in this paper.The main reason causing the unstability of lateral motion is periods of sagittal and lateral motion are not identical.Then two strategies are brought out to stabilize the lateral motion.Step width control is adjusting the lateral period by controlling the lateral step position，then the periods of frontal and lateral tend to coincident and the robot gets stable.Lateral moment control is adding lateral moment at ankles to tracking the planning trajectory which makes the movement of frontal and lateral coincident.Simulations show that the underactuated biped robot realizes stably 3D dynamical walking and the two stategies are all effective.

Key words: underactuated system, biped robot, 3D-LIPM, gait planning, stabilization control

摘要： 以欠驱动两足步行机器人为对象研究其侧向运动稳定控制问题。首先分析引起机器人侧向运动不稳定的原因，然后提出步宽控制和侧向力矩补偿两种控制策略。步宽控制通过控制机器人侧向落脚位置，使其侧向运动周期与前向周期趋于一致实现侧向运动稳定。力矩补偿控制通过在踝关节引入侧向控制力矩，使侧向运动与前向运动协调一致实现侧向运动稳定。仿真实验表明，机器人实现了稳定的3D动态行走，达到了预期的控制效果。

关键词: 欠驱动系统, 两足步行机器人, 三维线性倒摆, 步态规划, 稳定控制