In making this transition, animals hung on to the same switch arrangement and the same sets of regulators used by the ancestors, but they added a splendid additional idea.

在这个变化过程中，动物继续选择祖先使用开关排列和调控器，但是他们加入了一个非常好的创意。

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Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of mode switch and stability of system are achieved in transition.

这种方法可以使关节在自由空间和约束空间中分别实现良好的轨迹跟踪和力矩跟踪，在过渡过程中实现控制模式的可靠切换和系统的稳定过渡。

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In common hard switching circuit, high voltage spike usually could be produced during switch transition process because of the effect of transformer leakage inductance and parasitic capacitor.

在常规的硬开关电路中，由于变压器漏感及寄生电容的影响，常常在开关转换瞬间会产生很高的电压尖峰。

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