最后对转弯步态和摆动足轨迹进行了规划，为机器人步态实验提供了理论依据。

At last, turning gait and sway track planning is introduced which provides theory base for later experiments.

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黑线在地板上布置成迷宫状，整条轨迹线包含90度角的转弯，其它角度的转弯或是曲线，但不会出现线条交错现象。

The black line traces a maze on the floor. It may have 90 degree turns in it, turns of other angles, or curves. The line will never cross itself.

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对此提出一改进梯度方法，并计算了某型战斗机从亚音速三维转弯升高到超音速的最短时间飞行轨迹。

This article presents a modifying gradient method, and the fastest 3-D turning trajectory from subsonic to supersonic is calculated.

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