Abstract: This paper introduces a method for whole-body motion modification online. According to the simplified dynamic model of robot we generate the walking pattern. When walking in the real environment, there would be errors between pre-planned walking pattern and the actual state of motion, in order to reduce and suppress the errors. we adopted the compensation of CoM to correct joints gait online. This method could reduce the robot's ZMP errors, improve the stability of the robot walking. The biped walking robot AFU-09 proved the effectiveness of the method.

Key words: biped robot, CoM, whole-body modification

摘要： 提出一种双足机器人步行的在线全身修正方法。根据机器人简化动力学模型规划机器人步行模式。在真实环境中，双足机器人在跟踪预先规划的步行模式时目标值和实际运动状态之间会产生误差。为了减少抑制误差，采用机器人质心补偿，对其全身关节在线修正，以保证行走稳定性。机器人AFU-09的双足步行实验证明了该方法的有效性。

关键词: 双足机器人, 质心, 全身修正