摘要：
In order to achieve a good walking pattern of biped robots,a multi-objective optimal method for the gait planning is proposed,with the stability,the mobility and the energy of the robot as the research focuses. In this method,the basic gaits are generated based on the inverted pendulum. Then,Pareto optimal solutions based on the basic gaits are obtained in the feasible region by means of the improved strength Pareto evolutionary algorithm ( SPEA2) and the penalty function method. Finally,after the walking simulation through Matlab 6.5,some gaits are generated and are then used in SCUT-I Humanoid Robot,thus obtaining a stable walking pattern with an average velocity of 0. 26m/s.
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