The reasons of hand leaving in horizontal bar giant swing backward such as technical error and muscle tension etc. Were analyzed.
单杠向后大回环脱手的原因主要是倒立后摆阶段抬头、挺胸、塌腰和悬垂前摆时翻腕等技术错误，以及思想和肌肉过度紧张等。
In the parametric design, motion of the swing leg of biped robot is planned into a parabola to keep self balance in lateral plane and avoid coupling error;
通过对迈步腿质心进行抛物线运动规划，使两足机器人在动态步行时达到侧向自平衡，从而消除了前向和侧向模型的偶合误差；
In the parametric design, motion of the swing leg of biped robot is planned into a parabola to keep self balance in lateral plane and avoid coupling error;
通过对迈步腿质心进行抛物线运动规划，使两足机器人在动态步行时达到侧向自平衡，从而消除了前向和侧向模型的偶合误差；
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