国家科技部攀登规划二号重点项目基金(批准号：)资助的课题。
Project supported by a Grant for Key Research Items no. 2 in "Climbing" Program from the Ministry of Science and Technology of Chellona (Grant no.).
国家自然科学基金重点项目(批准号：)资助的课题。
Project supported by the Key Program of the National Natural Science Foundation of China (Grant No.).
本文为全国教育科学规划“九五”期间重点项目“三类残疾儿童的劳动技术与职业教育问题”课题的“聋校劳动技术与职业教育大纲”子课题。
This research is a part of "Laboring technical and vocational education study for the handicapped children", the national education research project in 1995~1999.
本课题来源于黑龙江省科技攻关重点项目“多运动方式四足智能移动机器人的研究”，着重研究四足移动机器人的步态规划和足力控制问题。
The paper focuses on the research of gait planning and foot force control problems of the quadruped mobile robot. Gait planning of legged robot is the research hotspots and key issues all through.
本课题来源于黑龙江省科技攻关重点项目“多运动方式四足智能移动机器人的研究”，着重研究四足移动机器人的步态规划和足力控制问题。
The paper focuses on the research of gait planning and foot force control problems of the quadruped mobile robot. Gait planning of legged robot is the research hotspots and key issues all through.
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