以四足机器人为例，展开说明，并讨论运动过程中的稳定性和控制问题。
This text takes a four-legged robot for example to discuss the stability and control in the movement process.
介绍了机器人机械系统的总体结构，给出了机器人的本体结构及起跳姿态，并分析了机器人的运动过程。
The architecture of the robot mechanical system, the structure of the robot body, the hopping stance and the locomotion process are introduced.
本文深入研究了多冗余度柔性机器人运动过程中的规划问题。由于多冗余度机器人存在较大的冗余空间，因此更有利于获得最优解。
However, the robot manipulators with multi-degree of redundancy have larger redundant space and the optimal solution can be obtained more efficiently.
人们要求机器人在运动过程中能够根据周围环境的变化而自主的采取相应措施的能力也越来越强。
The requirement of its ability to take corresponding measures in accordance with the environmental changes in its moving courses has become higher and higher.
在详细设计阶段，首先分析了点胶机器人对点、线基本轨迹进行点胶的运动过程；
In the detail design period, the paper firstly analyses the process of dispensing points and lines.
设计了一种新型的吸附式爬墙机器人并制作了实物模型，通过理论计算选择所用的气动元件，并在机器人实际运动过程中得以验证和得出实验结论。
This paper designs a step-forward pneumatic climbing robot by means of vacuum pads which can move on flat surfaces, especially vertical plane walls with the features of simplicity and flexibility.
设计了一种新型的吸附式爬墙机器人并制作了实物模型，通过理论计算选择所用的气动元件，并在机器人实际运动过程中得以验证和得出实验结论。
This paper designs a step-forward pneumatic climbing robot by means of vacuum pads which can move on flat surfaces, especially vertical plane walls with the features of simplicity and flexibility.
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