Passive dynamic walking is an interesting dynamic phenomenon.
被动行走是一种非常有趣的力学现象。
In this paper, the basic issues and the related concepts about the dynamic walking of humanoid robots are described.
本文介绍了仿人型机器人动态步行的一些基本问题和相关概念。
This leg mechanism not only applies to the dynamic walking quadruped, but also applies to the multi-legged robot walking at a high speed.
这种腿机构不仅适用于实现动态行走的四足步行机器人，也可适用于高速步行下的多足机器人。
To study influence factors of quadruped dynamic walking robot on walking stability, ADAMS virtual prototype software is used to simulate dynamic walking of quadruped.
为了研究影响四足机器人动态稳定步行的因素，使用ADAMS虚拟样机软件对四足步行机器人动态步行进行运动仿真。
In this paper, least energy method of determining landing posture of a hopping robot is introduced. The method is also reference to other dynamic walking robot of legs.
本文提出了确定单足跳跃机器人落地姿态的最小能耗方法，该方法对其他动态步行多足机器人的研究也有参考价值。
This paper addresses time-invariant gait planning and finite-time nonlinear control strategy for a five-link, four-actuator planar biped robot to realize dynamic walking.
以五杆四驱动的平面双足步行机器人为对象，研究了其动态步行的时不变步态规划和限定时间的非线性控制策略。
To realize dynamic walking of the humanoid robot, robot dynamic models have to be established, the control algorithm for gait and the stability postures should be designed.
实现类人型机器人动态行走，必须对机器人进行动力学建模、步态设计和稳定姿态控制算法设计。
Analysis the basic gait of robot on the frontal plane. Plan every joint movement, and judge the stability of dynamic walking by ZMP principle. Present the result of simulation.
分析拟人足球机器人前向行走基本步态，规划各关节的运动轨迹，并用ZMP判据判断动态步行稳定性，并给出仿真结果。
To verify the theoretical results of dynamic walking and satisfy the economy requirements, this paper designs and implements a planar footless biped robot THR-I based on bus servo motor.
为了既能验证动态步行的理论结果，又能满足经济性的要求，本文设计并实现了一种基于总线型伺服电机的平面无脚双足机器人THR-I。
Then we laid emphasis on algorithm design and simulation for dynamic walking motion planning. The dynamic motion planning method based on ZMP (Zero Moment Point) has been discussed in detail.
论文重点讨论了动态步行的算法设计和仿真，详细分析了基于零力矩点的仿人机器人动态步行运动规划方法。
Then we laid emphasis on algorithm design and simulation for dynamic walking motion planning. The dynamic motion planning method based on ZMP (Zero Moment Point) has been discussed in detail.
论文重点讨论了动态步行的算法设计和仿真，详细分析了基于零力矩点的仿人机器人动态步行运动规划方法。
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