In order to get stable and natural gait of numerical man with lower exoskeleton in the dynamic simulation of virtual man-machine system, the study of gait planning methods is required.
穿戴下肢外骨骼的数字人在虚拟人机系统运动仿真中应具有稳定自然的步态，因此需要研究步态规划方法。
Numerical results show that under the influence of horizontal seismic action, resonance will occur when the seismic wave frequency is identical to the second-order natural frequency of slope.
数值分析结果表明：在水平地震作用下，地震波频率与边坡的第二阶固有频率一致时，才会发生共振。
Numerical results show that under the influence of horizontal seismic action, resonance will occur when the seismic wave frequency is identical to the second-order natural frequency of slope.
数值分析结果表明：在水平地震作用下，地震波频率与边坡的第二阶固有频率一致时，才会发生共振。
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