首先，论述了自由飞行空间机器人的概念、用途和运动特性。
Firstly, it discusses the concept and usage and motion characteristics of free flying space robot.
讨论了自由漂浮双臂空间机器人关节运动的控制问题。
The control problem of joint motion of a free-floating space robot with dual-arms was discussed.
提出运动映射的方法简化多足机器人冗余自由度的控制，模仿动物肢体运动规律建立膝髋关节映射函数；
Proposing the method of motion-mapping to simplify the control of redundant freedoms for multi-legged robot, and building the mapping function between knee and hip by imitating animal's motion.
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