针对机器人的滑动和滑转,补充了机器人稳定步行的修正条件;利用三阶泰勒公式引入舒适度的概念,推导出基于舒适度的ZMP公式;提出一种用于动力学分析的三维弹簧平台-小车模型,通过简化的舒适度ZMP公式推导出该模型的运动规律;基于三维弹簧平台-小车模型,结合预观控制理论生成步行样本;最后,进行了机器人虚拟样机快速步行仿真,步速达到2.088km/h。 Aiming at the sliding and sliding of the robot, the correction condition of the stable walking of the robot was supplemented. The concept of comfort was introduced by using the third-order Taylor formula and the ZMP formula based on comfort was deduced. A three-dimensional spring platform for dynamic analysis was proposed, Based on the 3D spring platform-trolley model, combined with the predictive control theory, a walking sample was generated. Finally, a rapid walking simulation of a robot virtual prototype was carried out with a walking speed of 2.088 km / h.