摘要
本文在双足机器人作平稳步行的假设下，建立了解耦的上身躯和两腿的模型，并基于奇异摄动理论在直角坐标系下给出了平稳步行的控制方法，同时在证明摄动方程稳定的前提下，建立了非线性控制器，解决了快速性和无超调之间的矛盾。
Based on the thesis that biped locomotion robot do smoothly walking. thedecoupled models of up -body and two legs are built. And based on singular disturbance theory. the control method of robot's smoothly smoothly walking is given out. And through the stable provement of disturbance equations. The nonlinear controller is built to solve the contradict between quickness and overshoot.
