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25 4 Vol. 25 No. 4 2008 8 Control Theory Applications Aug. 2008 :2008 , , (; , 310027) : . (ZMP: zero moment point), , , . . : ; ; ; (ZMP) : TP273 : A Stable biped walking based on linear search optimization algorithm TANG Qing, XIONG Rong, CHU Jian (State Key Laboratory of Industrial Control Technology, Zhejiang University; Institute of Advanced Process Control, College of Information Science and Engineering, Zhejiang University, Hangzhou Zhejiang 310027, China) Abstract: Linear search optimal algorithm is used in the humanoid biped robot’s gait planning. By planning the trajec- tory of both of the ankle and the zero moment point(ZMP), the functional extreme optimization problem and the continuous multi-dimension variable programming problem are respectively converted into a nonlinear optimization with nonlinear constraints, and a discrete two-dimension variable programming problem. An on-line gait planning is then proposed. As- tringency and stability are also verified on both simulation and physical robot. Key words: humanoid robot; gait planning; optimization; zero moment point (ZMP) 1 (Introduction) . , , ZMP. . 7, [1] , ZMP , , . ZMP . Vukobratovic [2] , . ZMP(zero moment point) , ZMP, [35] [6] . . . MU Xiup- . 2 (Model of the robot) ing , ,