| The upmost accomplishment of robot research is humanoid robot. It is the centralized embodiment of intelligent robot theory and technology. It can drive the intersecting development and advancement of many related subject and technology.From 1990s, the study on the two-legged robot has come into a new phase, transforming from imitating the leg of human being to whole anthropopathic study. Robot stars have come out such as "P3", "ASIMO", "SDR-4X", and so on. Now, the humanoid robot leagues "RoboCup" and "FIRA" have respectively organized the humanoid soccer robot game successfully, which provide a new approach and environment for us to research humanoid robot. The study of humanoid robot in our country is relatively late, and the research on humanoid soccer robot is little. So, to develop humanoid soccer robot and to improve the whole reseach level of humanoid robot is quite meaningful. My task is to do the basic research work on the humanoid soccer robot and construct the whole study frame in order to build the foundations for the future work. The detailed contents include: 1,Analysis the study situation and development trend of the robot research all over the world and the meaning of studying the humanoid robot; confirm the study direction and the content.2,Analysis the structure of the humanoid soccer robot, build up the whole structure of humanoid robot.3,Analysis the movement of humanoid robot, come up with the kinematic and dynamic model and a method of force moment control. 4,Introduce the concept of dynamic walking, and analysis several dynamic walking control methods in common use, on this basis , present a suitable method of walking control.5,Analysis the basic gait of robot on the frontal plane. Plan every joint movement, and judge the stability of dynamic walking by ZMP principle. Present the result of simulation.
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