针对双足机器人上、下楼梯时的稳定行走问题,结合机器人动态上、下楼梯的约束条件,规划双足机器人动态上、下楼梯的步态,并提出了相应的稳定性控制策略。其中,机器人侧向平面采用保持机器人质心动态平衡的规划方法,通过调整躯干侧向最大偏移量,实现机器人侧向平面的稳定;机器人前进方向和重力方向采用三次多项式拟合的步态规划方法,通过传感器反馈的躯干姿态角及相应的角速度信息,结合楼梯台阶信息,调整机器人前进方向和重力方向质心的位置,保证机器人运动的稳定性。仿真结果验证了该方法的有效性。 Aiming at the steady walking problem of biped robot when going down stairs, the biped robot’s dynamic gait of stairs is designed according to the constraints of the robot’s dynamic up and down stairs, and the corresponding stability control strategy is proposed. Among them, the lateral plane of the robot adopts the planning method of keeping the center of mass of the robot dynamic equilibrium, and stabilizes the lateral plane of the robot by adjusting the lateral maximum displacement of the torso. The gait planning method of cubic polynomial fitting is adopted in the robot’s forward direction and the gravity direction , The torsion attitude angle and the corresponding angular velocity information fed back by the sensor are combined with the information of the stair steps to adjust the position of the robot in the advancing direction and the gravity center of the gravity direction so as to ensure the stability of the robot movement. Simulation results verify the effectiveness of this method.