为了获得良好的双足机器人步行模式，提出了以步行过程中机器人的稳定性、移动性和能耗为目标的步态规划多目标优化方法．该方法基于倒立摆模型产生基本步态，并使用罚函数法和改进的强度Pareto 进化算法( SPEA2) 在可行域中求得基于基本步态的Pareto 解集，从而找出最优解．最后在Matlab6．5 仿真环境下进行步态仿真，并将产生的步态应用于SCUT-I 型仿人机器人，实现了平均步行速度为0. 26m/s 的稳定行走．

In order to achieve a good walking pattern of biped robots,a multi-objective optimal method for the gait planning is proposed,with the stability,the mobility and the energy of the robot as the research focuses. In this method,the basic gaits are generated based on the inverted pendulum. Then,Pareto optimal solutions based on the basic gaits are obtained in the feasible region by means of the improved strength Pareto evolutionary algorithm ( SPEA2) and the penalty function method. Finally,after the walking simulation through Matlab 6.5,some gaits are generated and are then used in SCUT-I Humanoid Robot,thus obtaining a stable walking pattern with an average velocity of 0. 26m/s.