运动学求解是双足机器人步态规划的基础。
The solution of kinematics is the base of gait programming of a biped robot.
其次，提出了正运动学与逆运动学相结合的步态规划方法。
Secondly, put forward the walking planning idea combining forward kinematics with inverse kinematics.
本文中的研究是采用两步步态规划法对仿人机器人的步态进行规划。
The Two Steps Gait Plan is taken to plan humanoid robot's gait, in the paper.
文章针对两足步行椅机器人介绍了其步态规划中步行稳定性的计算方法。
In this paper, a computation method for the walking stability of biped walking-chair robot in gait planning is discussed focused on forward motion.
针对双足机器人步行问题，提出了一种基于分离设计/集成优化的步态规划方法。
Objective: To explore a kind of gait programming algorithm for the gait training robot used in partial body weight support training (PBWST).
本文工作为下一步研制实用壁虎机器人的机构设计，步态规划，控制打下很好基础。
The solution established a fundament for the following work such as the design of mechanical structure and gait planning as well as the control solution.
基于人体下肢关节角数据，对用于步行康复训练的下肢步态矫形器做出了人体生理学步态规划。
Based on the hip joint and knee joint Angle data, the physiological gait planning for a lower limb gait orthosis, which was used for the gait rehabilitation, was made.
进一步基于零力矩点理论，提出了一种综合机构修正和步态修正方法的步态规划集成优化策略。
Furthermore, based on the ZMP theory, the structure and gait optimization method were integrated to modify the gait locomotion.
穿戴下肢外骨骼的数字人在虚拟人机系统运动仿真中应具有稳定自然的步态，因此需要研究步态规划方法。
In order to get stable and natural gait of numerical man with lower exoskeleton in the dynamic simulation of virtual man-machine system, the study of gait planning methods is required.
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。
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.
然后是本文的核心内容，阐述本文所采用仿人人步行方法：两步步态规划法和基于三维陀螺仪的姿态反馈的步行。
Thirdly, it is the core of the paper. Elaborate the Two Steps Gait Plan and the attitude feedback through 3d gyroscope walk method, which is used in the paper.
步态规划是当前影响仿人机器人技术进步的重要课题之一，是成功和有效的实现双足稳定步行的理论基础和关键技术。
Gait planning is an important topic which influences the technology development in the field of humanoid robots research. It's the theoretical basis and key technology to realize stable biped walking.
提出一种基于步态规划分级结构的自适应网络模糊推理系统控制策略，该方法不需要确定双足机器人运动学和动力学模型。
Proposed an adaptive network fuzzy inference system control strategy based on hierarchy structure of gait planning, which do not require detailed kinematics or dynamic biped models.
过渡步态规划是实现多足爬壁机器人从地面向壁面自动行走的关键问题之一，对于在其它相交面间的自动行走也不可缺少。
Transit gait programming is a key problem for a multi-legged robot to climb automatically from the ground up the wall, as well as between wall intersections.
因此，步态规划一直是双足机器人研究的热点和难点控制问题，而双足机器人各关节的轨迹生成又是步态规划的核心工作。
Therefore, gait synthesis becomes one of critical and important issues in biped robot research, and trajectory generation of a biped robot is the central work of gait synthesis.
因此，本文通过把两足步行机的对平衡块的运动规划换成仿人机器人的上肢运动规划，实现了两步步态规划法在仿人机器人上的运用。
So, to realize Two Steps Gait Plan used in humanoid robot's gait plan, the plan of motion of the balance block of the Biped Machine is replaced by the plan of upper limbs motion of humanoid robot.
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.
针对四足机器人多自由度运动的特点，提出了一种舵机驱动控制机器人实现所规划的行走步态的有效方法。
Due to more freedom movement characteristics of quadruped robot, this paper puts forward a effective method of a kind of servo drive controls the robot to achieve planned walking gait.
最后对转弯步态和摆动足轨迹进行了规划，为机器人步态实验提供了理论依据。
At last, turning gait and sway track planning is introduced which provides theory base for later experiments.
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。
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.
提出了一种将机器人的步态控制和脚步规划分别独立设计的控制策略。
The control strategy of design gait pattern control and footstep planning separately has been proposed.
在双足机器人跨越动态障碍物的在线控制问题中，脚步规划和步态控制的学习时间是关键问题。
In the question of on-line control for biped robot to step over dynamic obstacle, the learning time of footstep planning and gait pattern training is a crucial problem.
在双足机器人跨越动态障碍物的在线控制问题中，脚步规划和步态控制的学习时间是关键问题。
In the question of on-line control for biped robot to step over dynamic obstacle, the learning time of footstep planning and gait pattern training is a crucial problem.
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