针对仿生手臂在目标任务需求改变后对规划平稳动态过程的需求，提出了实时检测动态参数并将其反馈至前向控制环节进行在线协调控制的算法。
To meet the requirements for a bionic-arm in a scheduled smooth-dynamic process caused by the change of its required tasks, an online harmonious control algorithm is proposed.
通过对迈步腿质心进行抛物线运动规划，使两足机器人在动态步行时达到侧向自平衡，从而消除了前向和侧向模型的偶合误差；
In the parametric design, motion of the swing leg of biped robot is planned into a parabola to keep self balance in lateral plane and avoid coupling error;
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