机器人的

A hierarchical HIFC strategy for the biped robot control is also presented in this thesis.

针对双足机器人控制的难点—自身固有的不稳定性、高度非线性及不确定性，本文在探讨双足运动控制机理的基础上，提出了双足机器人的分层递阶混合智能模糊控制方案。

The trajectory plan of welding robot is made for the purpose of realizing the predefined track by using the merits of joint space method and Cartesian space method. The realtime simulation is given.

为使机器人实现预期的轨迹运动，结合关节空间法和直角坐标空间法两种方法的优点对焊接机器人的轨迹进行规划，并给出实用的计算机仿真结果。

This method realizes the whole processes of autonomous path planning for free-floating space robot under Cartesian workspace, having good applicable foreground.

在已知空间机器人轨迹的条件下，采用空间机器人的逆动力学模型求解了各个关节的驱动力矩，并对真实轨迹和模拟轨迹进行了对比分析，保证误差在规定的控制范围。

Firstly, the development of the spherical robot is introduced and according to the knowledge of the research forepassed, the nonholonomy and the nonlinear controllability for a spherical robot based on the principle of angular momentum conservation are discussed with the differential geometric control theory.

首先介绍了球形机器人的发展状况，在了解前人研究领域的基础上，应用微分几何控制理论，对此角动量守恒的球形机器人的非完整性和非线性可控性进行了研究。

Basing on reading lots of reference materials, the author of this paper systemically analyses the kinematics, dynamics, dead reckoning of the robot which is designed by author.

在阅读大量的文献基础上，本文理论联系实际，针对所设计的机器人形式，进行了机器人的运动学、动力学、位姿推测等方面系统深入的研究。

In this paper, the state-of-the-art of in-pipe micro robot is introduced, some important design philosophy and research findings are analyzed, and the research direction and key technology to be solved are also summarized.

介绍了微型管内机器人的发展现状，分析了一些重要的设计思想和研究成果，进而总结了微型管内机器人的研究内容、发展方向与亟待解决的关键技术。

A motion reference coordinate system of this quadruped robot and its simplified-structure of the multi-rigid body dynamics model are established. After kinematic and dynamic analysis, the kinematic equation, inverse kinematic equation and Jacobi matrix of the quadruped robot are presented, and the second kind of Lagrange dynamic equation group for simplified-structure of the quadruped robots multi-rigid body system is educed.

建立了该机器人的运动坐标体系，及其等效简化结构的多刚体动力学模型，对上述模型进行了运动学和动力学分析，给出了该机器人的运动学、逆运动学方程和雅可比矩阵，并导出了其简化结构多刚体系统的第二类Lagrange动力学方程组。

This paper describes the structure and control of a new kind of miniaturec hexapod bio-robot, analyzes the moving principle of robot.

介绍一种新的六足微型机器人的结构和控制，分析机器人的移动的原理。

Dead reckoning of mobile robot in complex terrain is analyzed by therigid-body kinematic constraints of mobile robot that is on the basis oflocomotion architecture with the wheeled and rocker-bogie suspension system.At the same time, the kinematic model of mobile robot is obtained using themultiple sensors information from odometry, fiber optic gyro, tilt sensor, et al.

根据刚体运动学的约束分析了一种轮式结构与悬浮式摇架系统相结合的移动机器人在复杂地形下的航迹推测，采用里程计、光纤陀螺仪、倾角传感器等传感器信息推导移动机器人的运动学模型，提出一种运动学模型与车轮。

Secondly, while the robot\'s self-determining movement is depended on the sensing of the environment by the sensors, in which the visual signal process play a huge role.

其次，由于机器人的自主运动依赖于传感器对外界环境的感知，视频信号处理在机器人的研究中起着巨大的作用。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。