本文的主要介绍了双足竞步机器人的国内外发展情况，以及PWM指令算法和舵机的联动控制，通过认真的研究人类行走方式以及翻跟斗的动作，对机器人的行走步态进行简单的规划，设计出简化结构模型，然后以此为基础进行了适当的调整，设计出符合交叉足竞步机器人比赛要求的全部动作程序，设计完成后将程序下载到实验样机中，验证程序设计的可行性和合理性，通过反复的修改和验证使得机器人能顺利的完成比赛任务。(This paper mainly introduces the development of biped walking robot at home and abroad, as well as the linkage directive PWM algorithm and steering control, through careful study of human walking and movements somersault, walking gait of the robot is simply planning, design of a simplified structure model, and then based on the appropriate the adjustment, designed to meet the cross foot walking robot competition requirements of all the action program, after the completion of the design will be downloaded to the experimental prototype, verify the feasibility and rationality of the program design, through repeated modification and verification so that the robot can successfully finish the task.)