Based on the inverted pendulum model, gait planning of biped robot is carried out, which makes it walk steadily and realizes steering in one step. Aiming at the stability of the turning poses of the humanoid robot, this paper studies the landing stability analysis of the robot, the planning and control of landing after turning, improves the inverted pendulum model, and introduces the turning angle to the model of trajectory generation. By this method, the robot can plan a more reasonable gait trajectory of the real robot when turning, and achieve a single-step sharp turn at any angle, thereby making the robot walk more smoothly. Based on ROS and V-rep, the robot simulation platform was constructed, the hardware experimental platform was self-made, and the feasibility of gait planning method was verified by simulation and experiments respectively. The experiment results showed that the turning error of the robot on the plane was less than 6°.

基于倒立摆模型，对两足动物机器人进行步态规划，使其平稳行走并实现一步转向。针对类人机器人转弯姿势的稳定性，研究了机器人的着陆稳定性分析，转弯后着陆的规划与控制，改进了倒立摆模型，并将转角引入了轨迹生成模型。 。通过这种方法，机器人可以在转弯时规划真实机器人的更合理的步态轨迹，并且可以在任何角度实现单步急转弯，从而使机器人行走更加平稳。基于ROS和V-rep，搭建了机器人仿真平台，自制了硬件实验平台，并通过仿真和实验验证了步态规划方法的可行性。