关键词: 步态规划, 仿人机器人, 零力矩点, 自由度

Abstract: Being an advanced platform for researching human intelligence, the humanoid robot is complex and intelligent machinery integrating mechanics, electronics, computer, sensors, control technology, artificial intelligence, bionics and other disciplines. The humanoid robot has now become hot issues in the field of robot research. The domestic and foreign research status of humanoid robot is widely surveyed. A lot of research work on humanoid robot has been done in Japan and America. Meanwhile, Chinese universities are making active research and have made breakthrough progress. The configuration of freedom of humanoid robot, the classification of gait planning, the stability criteria based on zero moment point, the classification and application of sensors and robot control system are summarized and analyzed.

Key words: Degree of freedom, Gait planning, Humanoid robot, Zero moment point