步行

This conclusion support the knee structure design of biped with important theory and ideal.

这里从传统的两足步行平面连杆模型入手，提出了用于判断步态优化的能量指标，并以此为基础，建立了不同膝关节折向的不同步行速度下的动力学模型，并进行了仿真，这里结论为两足步行机的设计提出了一些新的理论依据和设计思路。1平面简化模型如图1所示，建立经典的两足步行平面简化

Finally, in this dissertation the computer simulations of the six kinds of walking motions with NAIWR-I robot are introduced, and the tendency of the development of biped robots is forecasted.

最后，本文对NAIWR-I两足步行机器人的六种常规步行运动进行了计算机仿真，并对两足步行机器人的发展趋势进行了展望。

Two main problems of the main road pedestrian environment have found out: first, the main pedestrian realm of the main roads is incontinuous, lack genius loci and low service level; second, the joint part of the main pedestrian realm, including crosswalks and bus stops, are unsafe and inconvenient.The main causes of those problems from macroscopic viewpoint are analyzed.

提出目前城市干道步行环境存在两大问题：一、以人行道空间为主的"城市干道两侧主体步行空间"，存在空间不连续、缺乏领域感、部分设施服务等级过低等问题；二、以人行横道、公交车站等为主的"进入主体步行空间的交接性步行设施"，存在缺乏安全性和方便性的问题。

Pavement requirements for commercial pedestrian streets include: safe, comfort, intimateness, sense of place, direction and culture, and uniqueness.

论述了铺装景观设计是步行商业街设计中非常重要的一个方面，安全、舒适、亲切，具有方位感、方向感、文化感、历史感和特色感是步行商业街铺装景观设计的要点，并具体以上海南京东路步行商业街、武汉江汉路步行商业街、广州北京路步行商业街、天津和平路步行商业街和成都春熙路步行商业街为例加以说明。

Based on the development of Urban Public Space, Modern Pedestrian Street and the"Place Theory", several basic design principles are put forward in this paper. And the basic structure of outdoor environmental design of Modern Pedestrian Street is built in the following five aspects: basic skill of Pedestrian Street, basic behavior pattern research of person, commercial location, landscape design principle, landscape design.

该文以城市公共空间和步行商业街的产生和发展为知识背景，根据"场所理论"提出基本设计原则，并根据自己对于"景观设计"的概念理解，从居住区步行商业街的基本功能、人的基本行为模式研究、商业定位、景观设计原则、景观设计等方面，由整体到枝节，建构了步行商业街景观设计的基本研究框架。

He held the register open while he counted her change I was next in line which meant I was invisible From where I stood I could see that the till was full He didn't look the type to play superhero So I stepped forth and paid for my cigarettes Crept out the stores front door to chase a little breath Fangles in my head, shake the song off Another manic Monday night, its gonna be a long walk A car pulled up, a fixed up cutlass A woman and a child climbed out and left it running They went inside of the deli, placed an order With the extra dollar fifty bottled water cuz the daughters picky When they came out mommy gave me a glance That said man can love an angel but he's got to take the chance Already knew the deal, I lit one up and walk So they got back in the oldsmobile, belted up, and took off Thug love on the corner by the walgreens Lookin at me like I'm just another square saltine As I get closer I notice that they showin each other sketches Out of their notebooks, reminded me of my old roots I walk pass with a nod and a reminisce Swear to god hip hop and comic books was my genesis Respect the life and the fashions of the children It's the only culture I've got, exactly what we've been buildin All of a sudden I'm in front of some man No he's a youngin but he's got a gun in his hand He looks fifteen, he looks frantic, no he looks afraid Immediately apprehensive til I heard him say "Do you want this It's not mine I promise I found it on my block in between a couple garages Didn't wanna leave it for a child to stumble over I don't even know how to hold it."

当他计数了她的变动时，他拿着记数器开放 I是意味的下一个我是无形的我站立我的From可能看直到是充分的 He没有看类型演奏超级英雄 So我跨步并且支付了我的香烟 Crept追逐一点呼吸的商店前门在我的头的Fangles，摆脱歌曲 Another狂躁星期一晚上，它去是长的步行 A汽车开了过来，被固定短箭 A妇女和孩子爬和留下它跑 They去在熟食店里面，安置命令 With额外美元五十装瓶了水cuz女儿好挑剔的他们来妈妈的When给了我扫视 That说人能爱天使，但是他一定采取机会 Already知道成交，我打开了一和步行他们在oldsmobile拿回，围绕的So，和离开了在角落的Thug爱由walgreens 在我的Lookin，如我是另一块方形的撒盐饼干 As我得到更加紧密I通知那他们showin剪影在他们的笔记本外面的，被提醒我我的老根 I与点头和追忆的步行通行证对神Hip Hop和漫画书的Swear是我的创世纪 Respect生活和孩子的时尚 It是我有的唯一的文化，正确地什么我们是buildin 突然我是在某些人前面 No他是youngin，但是他有在他的手的一杆枪 He看十五，他看起来狂热，没有他看起来害怕惶惑的Immediately，我听见他说"您想要它不是我的我许诺的此 I发现了它在我的在夫妇车库之间的块 Did不想要留下它孩子的能绊倒 I甚而不会举行它。"

Two main problems of the main road pedestrian environment have found out: first, the main pedestrian realm of the main roads is incontinuous, lack genius loci and low service level; second, the joint part of the main pedestrian realm, including crosswalks and bus stops, are unsafe and inconvenient.The main causes of those problems from macroscopic viewpoint are analyzed.

提出目前城市干道步行环境存在两大问题：一、以人行道空间为主的&城市干道两侧主体步行空间&，存在空间不连续、缺乏领域感、部分设施服务等级过低等问题；二、以人行横道、公交车站等为主的&进入主体步行空间的交接性步行设施&，存在缺乏安全性和方便性的问题。

The experimental group received 10 weeks of walking exercise training, at 50 minuets per session, 5 days per week and at a exercise intensity limit between 60% and 70% maximum heart rate. The control group received ordinary special education curriculums. All participants completed three times of the PACER（Progressive Aerobic Cardiovascular Endurance Run）20-Meter Shuttle Run test and test for the average walking speed during 1600 meters:before the experiment started , after the experiment and the follow-up test at the fourteenth week of the experiment started. All results from these tests were recorded and analyzed by descriptive statistics; repeated measure t-test; the one way analysis of covariance .

实验组进行星期一至星期五每天一次，合计每周五次，每次50分钟，总共10周，运动强度为60％-70％最大心跳率的步行运动；控制组接受学校安排的特殊教育课程，两组学生在进行步行运动前、后以及实验处理结束后第四周，分别接受PACER渐进性心肺耐力跑-20 公尺和1600公尺的步行速度之测验，并将所得的成绩以描述性统计、重复量数t 考验、单因子共变数分析进行统计考验，评估实验处理之运动与维持成效。

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。

Walking strengthens muscles without stretching them too much and it puts less pressure on bones and joints.many people are active in what is called fitness walking .they take short walks a few times each week to improve their health .fitness walking can be done almost anywhere and anytime no special equipment is needed.

步行加强肌肉而不致过度伸展，而且作用于骨胳和关节的压力很小。许多人积极参加所谓健美步行，每周进行几次，短途步行以增进健康。健美步行几乎能在任何时候任何场合进行，不需要特殊器材。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。