并从袋鼠腿部的生物构造，引入了非线性刚度表达的柔性关节，通过与线性关节模型对比，探讨了踝关节非线性对其关节力矩和起跳性能的影响。
Curves that each joint angle, joint moment and nonlinear twist spring's torque with the time in the process are obtained using Matlab, and discussed contrast to linear joint.
单杠体操机器人是欠驱动非线性系统的一个典型例子，是一种具有非驱动关节的机器人。
The gymnastic robot on a horizontal bar is a typical model of underactuated nonlinear systems. One feature of this kind of robot is its underactauted joint.
本文提出一种新的自适应控制算法，用于补偿机器人动力学方程中的非线性项和消除关节间的耦合。
A new adaptive control algorithm is proposed in this paper to compensate nonlinear terms in the dynamic equation of robot and decouple the dynamic interaction among the joints.
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