The parts design and principle were discussed that includes the oblique plane, the swing arm parallelogram, and the end plane CAM.

阐明斜平面、摆臂平行四边形、端面凸轮等部分的设计和原理。

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Suppose you decide to make a trek to the North Pole. You can't catch a plane there. So instead, you pull out your compass, watch the needle swing northward and plot a path, right?

假设你决定长途跋涉去北极，又不能坐飞机去，那么只好拿出指南针，根据指向北方的指针绘制出路径，对么？

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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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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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