本文重点对模块化可重组机器人四足步行运动进行规划，采用基于运动学计算的规划方法。

The four-legged walking of modular reconfigurable robot is planned emphasis in this thesis. The motion planning method is on the base of kinematics calculation.

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运动规划是模块化可重组机器人研究的关键技术之一，规划得合理与否，将直接影响到该机器人的运动性能。

Motion planning is one of the key techniques for the research of modular reconfigurable robot, whose motional function is affected by planning better or not directly.

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传统的机器人控制系统不适合模块化可重组机器人，本文为它构建了适合其特点的控制系统——模块化分布式控制系统。

We present a modular distributed control system for modular reconfigurable robot because traditional control systems are not fit for it.

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