By Lagrange dynamic equations, the dynamic model of the simplified biped is given respectively in the period of single-foot support and double - foot support, and this model is easy to control.
运用拉格朗日动力学方程对简化的机器人模型分别在单、双脚支撑期进行了动力学建模，得到了一个便于控制的动力学模型。
By Lagrange dynamic equations, the dynamic model of the simplified biped is given respectively in the period of single-foot support and double - foot support, and this model is easy to control.
运用拉格朗日动力学方程对简化的机器人模型分别在单、双脚支撑期进行了动力学建模，得到了一个便于控制的动力学模型。
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