步态

It also can automatically tune the angle of inclination of its body to avoid its falling by the auto-balance mechanism based on a fuzzy controller.

透过我们所设计的模糊控制器控制马达改变角度及利用多层感知机产生步态动作，控制人型机器人在行走中的所有步态动作，使人型机器人能顺利的到达所指定的目标区域。

To study the regular human gaits,the test system based on string displacement sensor and human joint angle measurement instrument are used to measure the motion trajectory of anklebone and the joint angles of lower limb under walking in different road conditions,and the measurement data is analyzed and treated based on human rigidbody model and with data fusion method.Then the gaittrajectories and standphases are gotten under the condition of upstairs,normal walking and downstairs.The result shows that the longest standphase is in upstairs condition,the middle is normal walking and the shortest is downstairs.

为研究人体的步态运动规律，采用基于拉线传感器检测系统和人体关节角度测量装置，对人在不同路况下行走时踝关节运动轨迹和下肢关节角度进行了测量，根据人体下肢刚体模型和数据融合方法对测量结果进行了分析和处理，得到了人在上楼梯、平地行走和下楼梯时的步态轨迹和3种路况下的支撑相；上楼梯时的支撑相最大，平地行走次之，下楼梯最小。

Being the only biometry certification techniques for remote surveillance,gait recognition,on one hand,is regarded as being of important potential value,hence a lot of algorithms have been proposed,on the other hand,it has encountered a lot of challenges.

作为唯一远程生物认证技术，步态识别一方面越来越受到人们的重视，提出了很多相应的算法，另一方面，它又面临着很多挑战，其难点之一是如何从多帧步态中有效地提取步态特征。

In the gait planning, for the first time a planning method based on the complex optimization algorithm is proposed for biped robots, and a principle for finding the optimal solution is developed.

在步态规划方面，提出了基于复合形最优化算法的两足步行机器人的步态规划方法，并确立了如何从若干组可能的解中获取"最优解"的原则。

On the basis of its importance both in theoretical research and practical application, gait recognition needs to be further studied. With the help of current research findings, this thesis has made the following innovative contributions: 1. Based on the perceptual shape descriptors and the eigenspace transformation, a new automatic gait recognition algorithm is proposed. The principal component analysis and the multiple discriminant analysis are used to reduce data dimensionality and to optimize the separability of different classes.

鉴于步态识别技术具有重要的理论研究意义和实际应用价值，本文对其进行了深入的研究，取得了以下研究成果： 1、利用主成分分析方法和多重判别分析方法进行特征降维，提出了一种基于感知轮廓描述子和特征空间变换的自动步态识别算法。

With a view to the periodicity of human gait, experimental data maybe expressed in the form of the fourier series.

考虑到人体步态的周期性，步态实验的数据可以表示成富里哀级数的形式。

Based on the analysis of a group of gait plates of quadrupedal animals, the conformity and continuity among all gaits from crawl through gallop are revealed. A unified mathematical model of various gaits is established, which forms the basis of further study of analysis and control of gaits.

通过对四足动物步行运动步态的图片资料的分析，揭示了动物从爬行到奔跑之间各步态在时序上的一致性和在步态参数上的连续性的内在规律，建立了这些步态统一的数学模型，该模型可作为动态步行运动分析和控制的基础。

Gait:The Siberian Husky's characteristic gait is smooth and seemingly effortless. He is quick and light on his feet, and when in the show ring should be gaited on a loose lead at a moderately fast trot, exhibiting good reach in the forequarters and good drive in the hindquarters. When viewed from the front to rear while moving at a walk the Siberian Husky does not single-track, but as the speed increases the legs gradually angle inward until the pads are falling on a line directly under the longitudinal center of the body. As the pad marks converge, the forelegs and hind legs are carried straight forward, with neither elbows nor stifles turned in or out.

步态：HUSKY的特有的步态是平稳的并且不费力气的，他脚步轻盈并且快，在Show时，他的一种步态会以一种放松的适度的快速小跑，来展示他前躯很好的伸展性和后躯强大的驱动力，当HUSKY在慢跑时，我们可以从前面看他们的后面，并不是一条单独的轨迹，但是一旦他们开始加速跑时，他们的腿逐渐开始立即追赶前面落下的脚掌，直到形成一个纵向的并且落脚点为身体的中心点的时候，当步伐集中为一点时，前肢和后肢迅速的向前伸直，肘关节和后膝关节既不向外也不向内。

In the second chapter, the stabilities of periodic regular gaits for six-legged robots walking longitudinally and laterally were systematically studied respectively, employing a hexpod's geometric model with outward extension of middle legs. Major progress and achievements reached are: a Both the necessary and the sufficient conditions for static walking of hexapods were established theoretically. b A generalized optimization method of gait stability was investigated. c For all feasible duty factor, stability-optimal gaits were obtained, with the expressions being of wide adaptation.

第二章系统分析研究了轴对称六足步行机器人在&中腿行程外置模型&下沿两个运动主方向运动时周期规则步态的稳定性及步态规划问题，主要取得以下三方面新的进展：（1）从理论上建立了六足步行机静态稳定的必要性定理和充分性定理；（2）探索了步态稳定性计算机择优的一般方法；（3）对于所有可能的有荷因数取值，从理论上证明静态稳定性最优步态的存在，并得到具有相当普遍意义的统一表达式。

The results indicate that weight factor had significantly effect on gait speed, steps per minute, gait cycle time, the ratio of stance time and swing time, maximal flexion angle of knee joint and the range of motion of elbow joint. Shelf height had significantly effects on hip flexion and elbow ROM. Box size factor had significantly effect on stride length, gait cycle time, the ratio of stance time and swing time, knee joint elbow ROM. For the muscle activity levels with EMG, load weight and shelf height both affected the %MVC significantly. When the subjects carrying a load of 14kg, the muscle activity and the subjective body part discomfort rating are both higher than that of 7kg. The box size had effect on the body part discomfort rating of upper extremity and back. For the kinetic and kinematics analysis, the shelf height around elbow height was better than the other two height levels.

研究结果显示，对步态时间与空间参数而言，重量因子显著影响步速、步频、步态周期时间与站立期摆荡期比值，箱型因子显著影响步长、步态周期时间与站立期摆荡期比值；关节活动度而言，重量显著影响膝关节最大弯曲角度、肘关节屈伸角度范围，高度因子显著影响髋关节前后倾角度、肘关节活动各变项，箱型因子影响膝关节弯曲最大最小值以及肘关节活动各变项，对肌肉活动度而言，重量与高度因子皆显著影响MVC%值，14公斤重者肌肉活动度与主观不舒适程度皆较7公斤者高，箱型因子虽无明显影响肌肉活动度，但是在主观不舒适程度上却明显影响上肢与背部，终点放置高度应设在肘高附近为佳。

As she looked at Warrington's manly face, and dark, melancholy eyes, she had settled in her mind that he must have been the victim of an unhappy attachment.

每逢看到沃林顿那刚毅的脸，那乌黑、忧郁的眼睛，她便会相信，他一定作过不幸的爱情的受害者。

Maybe they'll disappear into a pothole.

也许他们将在壶穴里消失