In order to solve over dynamics modeling and analyzing problems of the human - oid - robot with the viscoelastic and nonlinear structure properties , this dissertation stu - dys to build the dynamic model and analyze its walking property of the thbip - humanoid - robot , who has been developed by tsinghua university , by the three - dimension finite element analysis ( fea ) method in the ansys platform . firstly , this paper presents a precise viscoelastic dynamics fea model of the thbip - i 因此，为解决复杂的仿人机器人系统动力学建模和分析问题，论文针对清华大学研制的第一代仿人双足步行机器人? ? thbip -系统，考虑具体三维结构及其材质本质粘弹特性，如结构柔性和关节弹性等方面的影响，运用三维有限元理论和ansys软件技术，系统和深入地研究了其动力学特性的有限元建模技术与方法，以及具体行走动力学特性的分析问题。
The walking stability has direct relation to the gait of the robot , and whether the gait is nicer is vital to the stability . by researching of the walking habit of human being , we proceed the gait planning of biped walking robot , decide the single foot supporting and double feet supporting , and bring forward the principle of phase divided and divide a gait cycle into eight sub - phases . that guarantees the continuity , stability of the whole walking 而步行稳定性与机器人的步态有着直接的关系，良好的步态对步行机器人的稳定性来说又是至关重要的，通过对人类步行习惯的研究，对两足步行机器人进行步态规划，确定了步行机器人的单脚及双脚支撑周期，提出了分相的原则，并将一个步态周期分为八个子步相，保证了运动过程的连续、平稳，并利用zmp理论对步行机器人稳定性进行计算，给出静态稳定步行的条件。
By using the zmp theory we calculate the stability of the walking robot , and provide the condition of static stable walking . in this paper , we use the design method of virtual prototype . in simulation software msc . adams , we build parameterized simulation model of biped walking robot , proceed gait planning and simulation experiments in the simulation surrounding , and get some experiment results 本文应用虚拟样机的设计方法，在msc . software公司开发的仿真软件msc . adams中建立两足步行机器人并联机构腿的可参数化仿真模型，并在仿真环境下对步行机器人的行走姿态进行了规划和仿真试验，得出试验结果。
