The control strategy of design gait pattern control and footstep planning separately has been proposed.

提出了一种将机器人的步态控制和脚步规划分别独立设计的控制策略。

In the question of on-line control for biped robot to step over dynamic obstacle, the learning time of footstep planning and gait pattern training is a crucial problem.

在双足机器人跨越动态障碍物的在线控制问题中，脚步规划和步态控制的学习时间是关键问题。

Specifically, for planning in complex multi-obstacle environments, a compound footstep transition model based on alterable potential footstep placements is proposed.

针对复杂多障碍物环境，特别提出了基于可变落地足迹数量的复合足迹转换模型的方法。