针对小型仿人机器人足部异常着地姿态对步行稳定性的重要影响，提出了一种基于力分布的快速着地柔顺控制方法，使机器人能够根据着地时地面反作用力的分布情况，快速判断足部着地姿态，通过实时调节踝关节实现机器人的快速着地柔顺控制。该方法结合基于零力矩点（Zero Moment Point，ZMP）和身体姿态的平衡控制方法，在运动调节功能的协调下，形成了一个较为完备的小型仿人机器人实时稳定控制体系。%In order to match the walking stability requirement when foot is landing abnormally, a compliance control method based on the distribution of landing stress is put forward. According to the fast judgment of abnormal landing posture,the small humanoid robot can adjust the ankle to achieve better stability;the balance control methods are used based on the ZMP and attitude to guarantee the walking stability by adjusting the ankle and hip of the robot;the rela-tionship among the dynamic gait,stability control and motion restriction can be coordinated by motion adjustment. By combining these three control methods,a real-time stability control system of small humanoid robot are obtained.
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