Secondly, put forward the walking planning idea combining forward kinematics with inverse kinematics.

其次，提出了正运动学与逆运动学相结合的步态规划方法。

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Focus on analyzing the history and status quo of terrestrial region at east reach of Suzhou Creek and put forward the planning idea for creating its main function and spatial environment.

重点分析了苏州河东段沿线地区的历史和现状，并对其主要功能及空间环境的创造提出了规划意见。

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Focus on analyzing the history and status quo of terrestrial region at east reach of Suzhou Creek and put forward the planning idea for creating its main function and spatial environment.

重点分析了苏州河东段沿线地区的历史和现状，并对其主要功能及空间环境的创造提出了规划意见。

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