双足机器人动态行走时 ,零力矩点轨迹与期望值之间存在一定偏差。利用机器人力矩传感器的输出信号 ,结合动力学算法实时计算零力矩点的位置 ,并利用基于模糊逻辑的步态调整算法修正踝关节处的 4个关节角 ,以达到降低零力矩点位置误差 ,提高系统动态行走稳定性的目的。仿真和实验证实了该算法的有效性。 Biped robot dynamic walking, there is a certain deviation between zero torque point trajectory and expected value. Using the output signal of the robot torque sensor, the position of the zero moment point is calculated in real time with the dynamic algorithm, and the gait adjustment algorithm based on fuzzy logic is used to correct the four joint angles at the ankle joint so as to reduce the position error of the zero moment point and improve The purpose of system dynamic walking stability. Simulation and experiment show the effectiveness of the algorithm.