然后论述了足式步行机器人结构设计的相关理论。
Then the theory of structural design for walking robot was discussed.
介绍了目前载人两足步行机器人的研究现状和相关成果。
The status and achievements of this new kind of robot are introduced.
针对点接触式两足步行机器人提出了一种直立姿态稳定控制策略。
The robot dynamical model is developed and the stability and controllability of the robot vertical posture are discussed.
本文主要介绍了根据微小步行机器人动作过程设计的动作控制电路。
This paper deals with the controlling circuit of moving which is designed by the acting of walking type micro robot.
两足步行机器人具有类似于人类步行的特点，对环境有较好的适应性。
So, the researching on biped walking robot has become an active task in robotics.
基于此控制电路的双足步行机器人，具有很好的学习扩展性和新颖性。
The biped robot based on our hardware, with scalable and novel platform.
采用慧鱼仿生机器人包搭接出六足步行机器人，进行了一系列步行的实验。
The author of the paper uses the Fischertechnik bionic robot to build six-legged walking robot.
针对步行机器人建模困难和传感信息有限的条件下对其进行的队形控制研究。
This article conducts the formation control research of walking robot under the modelling difficulty and the sensing information limited.
1990年研制成功的两足步行机器人，填补了国内空白，达到国际先进水平。
The walking robot developed in 1990 has filled a gap in science and technology in the country and reached the advanced world level.
在仿生学原理的基础上，对六足步行机器人三角步态的行走原理和稳定性进行了分析。
Based on the principles of bionics, the tripod gait of a hexapod walking robot and the static stability is analyzed in this paper.
波士顿动力公司备受赞誉的步行机器人，走起路来似模似样，不过要靠外置动力行动。
Boston Dynamics's much-admired walking robot has a humanlike gait but relies on external power.
正是这一研究方向的转变，人们开始了仿生机器人的研究，因此首先诞生了步行机器人。
It is because of the changes in the direction of research, people began to research the biomimetic robots, so the first walking robot was born.
本文提出一种新的模型参考自适应模糊控制器，并应用于步行机器人关节速度伺服控制。
This paper presents a new adaptive fuzzy control scheme and its application to speed servo control for a quadruped robot.
文章以这种ARCNET总线应用于双足步行机器人控制系统为实例，分析了它的特点。
This paper discuss its advantages by taking the control system of biped walking robots for an example.
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.
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.
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.
为了研究影响四足机器人动态稳定步行的因素，使用ADAMS虚拟样机软件对四足步行机器人动态步行进行运动仿真。
To study influence factors of quadruped dynamic walking robot on walking stability, ADAMS virtual prototype software is used to simulate dynamic walking of quadruped.
本文根据项目规划和控制任务要求，按照从总体到部分、由主到次的原则，设计了一种适合仿人步行机器人控制的机构。
According to the project layout and task requirement the paper designs a new framework that is suited for humanoid robot.
为使足行拟人机器人的下肢机构结构更加紧凑灵活，提出了一种串并联结构相结合的双足步行机器人下肢机构设计方案。
In order to the legal mechanism of biped humanoid robot becomes more compact and flexible, a new scheme combined serial and parallel structure was proposed for leg design of biped robot.
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.
通过分析双足步行机器人整体的协调运动，基于D -H法的坐标变换，对步行机器人四肢串联机构进行了重心合成计算。
This paper analyse global coordination motion of biped robot, compute the center of gravity of four limbs mechanism of series connection based on the coordinate transformation of D-H method.
分析了步行姿态对行进速度的影响，提出了一种欠驱动两足步行机器人步行速度控制策略并通过仿真实验对算法进行了验证。
Based on the analyses of robot configuration and walking velocity, a method to control the walking velocity is presented and validated by simulation at last.
所用方法同样适用于六足仿生步行机器人其他结构参数的优化，也为六足仿生步行机器人的合理驱动和精确控制提供了理论依据。
This method can also be used to optimal design of other parameters, and provided theoretical principle for reasonable drive and precise control of hexapod walking bio-robot.
介绍了一种双足步行机器人的起立规划方法，该方法能实现稳定而又自然流畅的起立运动，同时能保证在站立状态下执行相同的动作而不翻倒。
In this paper, we put forward a method for the biped walking robot getting up planning, which can achieve the movement of getting up stably and glidingly.
论文还对微小步行机器人驱动方式及结构进行了研究，提出了三种驱动方式及实现结构形式，研制出了两种结构的微小步行爬壁机器人实验样机。
Wall-climbing micro-robot's driving mode and structure have been discussed in this thesis, and offered three types of driving modes and structures, and had made two experiments models.
ADAMS中建立两足步行机器人并联机构腿的可参数化仿真模型，并在仿真环境下对步行机器人的行走姿态进行了规划和仿真试验，得出试验结果。
ADAMS, we build parameterized simulation model of biped walking robot, proceed gait planning and simulation experiments in the simulation surrounding, and get some experiment results.
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.
他们取出福图纳的脑子，把它放进一个类似机器人的蜘蛛形步行机。
They removed Fortuna's brain, placing it in a droid-like spider walker.
本文模拟出一种仿人腿式的机器人步行机并对其进行了运动分析。
A new type of robot-stepping mechanism is proposed to simulate a human leg. An analysis of its movement has been also performed.
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