摘要： 针对实验室研究设计的一种新颖的3足机器人，提出并介绍了一种提高其步行速度的步态优化方法。此规划方法基于可行的遗传算法方案，避免了成熟前收敛的问题，得到了较可靠的优化结果，还提出了嵌套优化的策略，在消耗相同时间的前提下，提高了遗传算法的计算精度，通过随机实验结果的对比表明了本策略的有效性。

关键词: 3足机器人, 步态优化, 遗传算法, 嵌套优化策略

Abstract: This paper particularly discusses gait optimization of a novel tripedal robot: HIT-TRIPEDAL. In order to satisfy the need for walking velocity of hit-tripedal, a feasible program of genetic algorithm is studied which avoids the problem of premature convergence and obtains relative authentic results. A method of nested optimization is also developed which improves the precision of GA with consuming the same time and then random experiment results performed have proved that nested optimization is effective.

Key words: Tripedal robot, Gait optimization, Genetic algorithm, Nested optimization