Therefore, gait synthesis becomes one of critical and important issues in biped robot research, and trajectory generation of a biped robot is the central work of gait synthesis.
因此，步态规划一直是双足机器人研究的热点和难点控制问题，而双足机器人各关节的轨迹生成又是步态规划的核心工作。
Therefore, gait synthesis becomes one of critical and important issues in biped robot research, and trajectory generation of a biped robot is the central work of gait synthesis.
因此，步态规划一直是双足机器人研究的热点和难点控制问题，而双足机器人各关节的轨迹生成又是步态规划的核心工作。
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