步行机

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

Solving the set of equations, man can obtain a continuous force distribution solution.

解这组线性方程组，即可得到这种步行机的连续变化的力分布解。

He and his gunner Wes Janson perfected a daring maneuver wherein a snowspeeder used its harpoon and tow-cable to trip up the legs of the attacking Imperial walker.

他和他的炮手韦斯·詹森成功实践了一个大胆的策略。他们坐在雪地飞行艇里，用鱼叉和拖缆缠住来袭的帝国步行机，将其绊倒。

To minimize man's role as an operator, the walking vehicle should be able to move autonomically in accordance with higher level commands.

虽然这种步行机已有实用，但其运动是由人控制其腿的运动来实现的。

De-Inventing The Wheel - This ridable mechanical walking machine was designed by a team of artists and engineers as an industrial metal beast destined to rock burning man festival and the world of kinetic sculpture.

德发明轮子-这ridable机械步行机是由艺术家和工程师作为一种工业金属注定要燃烧男子摇滚节和世界的动态雕塑设计团队的野兽。

The study of singular gaits was lacking.

虽然这种步行机已有实用，但其运动是由人控制其腿的运动来实现的。

Amid the wreckage of the Endurance are pieces of Republic gunships and AT-TE walkers.

在&忍耐号&的残骸里，有共和国炮艇和AT-TE步行机的残片。

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。

This paper presents a foot force model of the quadruped walking vehicle during its truss- climbing process based on the stiffness matrix method.

针对4足步行机器人的横杆攀登过程，在考虑弹性变形的基础上利用刚度矩阵建立其受力模型，并通过计算机仿真对攀登过程的不同情况进行了分析，其结果为具有攀登功能的步行机结构设计及控制算法确定提供了理论依据。

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。