为解决机器人对复杂多变的环境适应性不强的问题，研制了模块化的多足步行机器人系统。
To solve thee problem of robots' weak adaptability to various environmental conditions, a modular multi-legged walking robot system was developed.
由于对复杂地形的良好适应能力以及较高的灵活性，多足步行机器人已成为机器人研究的一个热点。
Due to its good adaptability to complex terrain and high flexibility, multi-legged walking robots have become a research hotspot.
第二，在运动学分析的基础上，建立了多足步行机器人运动的动力学方程，分析了机器人稳定步行时应遵循的各种约束。
Secondly, the dynamic model of the walking locomotion is derived on the basis of kinematics analysis. The locomotion and force constraints are formulated and solved.
多足步行机器人具有较强的机动性和适应不平地面的能力，能完成多种机器人工作，已激发广大研究人员的研究兴趣，其研究具有重要的科学意义和实际应用价值。
Multilegged walking robots have been generating a considerable interest, because of their high performances in various robotic tasks and their great mobility and adaptability to the rough terrain.
这种腿机构不仅适用于实现动态行走的四足步行机器人，也可适用于高速步行下的多足机器人。
This leg mechanism not only applies to the dynamic walking quadruped, but also applies to the multi-legged robot walking at a high speed.
这种腿机构不仅适用于实现动态行走的四足步行机器人，也可适用于高速步行下的多足机器人。
This leg mechanism not only applies to the dynamic walking quadruped, but also applies to the multi-legged robot walking at a high speed.
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