四足的

Bloodless and many footed animals, whether furnished with wings or feet, move with more than four points of motion; as, for instance, the dayfly moves with four feet and four wings: and, I may observe in passing, this creature is exceptional not only in regard to the duration of its existence, whence it receives its name, but also because though a quadruped it has wings also.

无血多足动物，不管装备翅膀还是足，移动依靠多于四个的运动点：像是，例如，蜉蝣依靠四足和四翅膀活动：并且，我可以顺便说一下，这种生物的特别不仅与它的生存周期、名称的由来有关，也因为它尽管是四足动物，但是也有翅膀。

In which were all the four-footed animals and reptiles of the earth and birds of heaven.

10：12 里面有地上各样四足的走兽和爬物，并天空的飞鸟。

Acts 10:12 In which were all the four-footed animals and reptiles of the earth and birds of heaven.

徒十12 里面有地上各样四足的走兽和爬物，并天空的飞鸟。

All animals move alike, four-footed and many-footed; in other words, they all move cross-corner-wise.

所有的动物运动方式类似，四足的和多足的，换句话说，它们都用交叉动足的方法。

It contained all kinds of four-footed animals, as well as reptiles of the earth and birds of the air.

里面有地上各样四足的走兽，和昆虫，并天上的飞鸟。

But all other winged insects which are four-footed are detestable to you.

利11：23但是有翅膀有四足的爬物、你们都当以为可憎。

Once upon a time, a very long time ago, the four-footed animals made the lion their king.

很久很久以前，四足的动物们推举狮子做了他们的国王，水里的鱼类也推举了海里的一条大鱼作了他们的国王。

To Edward, Bella is which breakthrough he has waited 90 days given - a quadruped partner .

爱德华，贝拉的突破是他期待已给予90天-四足的合作伙伴。

Large fish eating seabird with four toed .

四足的大型食鱼海鸟。

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

论文的主要工作有：在对传统步行机构总结分析的基础上，提出将平面并联五杆机构应用于四足步行机器人的腿部结构，并对其轨迹特性、正运动学、逆运动学特性做了详细计算分析；依据平面并联五杆机构的模型，建立机器人步行机构的实体模型，对其足端的轨迹做了图谱规划，并利用插值法对并联驱动端的特性曲线作了研究，并在ADAMS中进行仿真，将结果与理论值相比较；然后设计了一套四足步行机器人密封装配结构设计方案，建立四足步行机器人单足结构、驱动以及传感器监测的三维实体模型，将机器人的整个控制系统，密封装配在步行机器人的机体中，通过轴传动来驱动步行机构实现步行，采用动态扭矩传感器监测步行机构的驱动关节受到的扭矩变化，从而获得四足步行机器人足端的周围情况，为步行机器人的控制方案奠定了基础；论文的最后在分析步行机器人传统控制传感器的基础上，详细分析了动态扭矩传感器的监测原理，并分几种情况分别分析了其监测原理，并在Pro/E的Mechanism模块中实现了监测原理的仿真与验证，最后给出了传感器监测信息与系统判断之间的关系。

I didn't watch TV last night, because it .

昨晚我没有看电视，因为电视机坏了。

Since this year, in a lot of villages of Beijing, TV of elevator liquid crystal was removed.

今年以来，在北京的很多小区里，电梯液晶电视被撤了下来。