本文根据项目规划和控制任务要求，按照从总体到部分、由主到次的原则，设计了一种适合仿人步行机器人控制的机构。
According to the project layout and task requirement the paper designs a new framework that is suited for humanoid robot.
本文模拟出一种仿人腿式的机器人步行机并对其进行了运动分析。
A new type of robot-stepping mechanism is proposed to simulate a human leg. An analysis of its movement has been also performed.
因此，本文通过把两足步行机的对平衡块的运动规划换成仿人机器人的上肢运动规划，实现了两步步态规划法在仿人机器人上的运用。
So, to realize Two Steps Gait Plan used in humanoid robot's gait plan, the plan of motion of the balance block of the Biped Machine is replaced by the plan of upper limbs motion of humanoid robot.
因此，本文通过把两足步行机的对平衡块的运动规划换成仿人机器人的上肢运动规划，实现了两步步态规划法在仿人机器人上的运用。
So, to realize Two Steps Gait Plan used in humanoid robot's gait plan, the plan of motion of the balance block of the Biped Machine is replaced by the plan of upper limbs motion of humanoid robot.
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