关键词：双足机器人;优化;能源效益
摘 要：Although people's legs are capable of a broad range of muscle-use and gait patterns,they generally prefer just two,walking and running.A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion.Here,a mathematical model for a simple two-dimensional planar kneed walker with point feet and two bended knees is discussed.An energy-effective gait is designed by using pieeewise torque method.Then,the robot model can exhibit a natural and reasonable walk on a level ground.The results can prove that the proposed optimal energy-effective gait is suitable for this kneed biped walking robot.And we also discover some walking rules maybe true through the results of optimization.