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面向舞蹈机器人中常见的行走动作,模仿人类的行走行为,构建舞蹈机器人腿部模型,并设计机器人步态与被模仿者步态的跟踪优化函数,利用粒子群优化方法对步态模型中的膝关节的控制参数进行优化.根据仿真结果,该方法能够在符合机械结构要求的情况下,实现舞蹈机器人对人类步态行为的模拟,达到了良好的步态控制目标,方法可行有效.,This paper conducts a walking gait modeling for legs of dancing robots by mimicking human beings’ walking behavior which is also a common action in dancing programming.Considering the human behavior as targets,an optimization objective is constructed to help robots’ legs track the target behaviors.By employing a nature-inspired algorithm named particle swarm optimization (PSO);the parameters on knee joint are optimized.The simulation are conducted to test the proposed algorithms.According to the experimental results,the dancing robots are competitive to exhibit a good performance in walking gait,which also demonstrates that the proposed algorithm is feasible and effective.