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引入条件解耦用于描述冗余自由度为固定输出时，其他各变量间的解耦特性。
When the redundant DOFs were taken as constant outputs, conditional decoupling concept can be used for the investigation of decoupling characteristics among the residual output variables.
提出运动映射的方法简化多足机器人冗余自由度的控制，模仿动物肢体运动规律建立膝髋关节映射函数；
Proposing the method of motion-mapping to simplify the control of redundant freedoms for multi-legged robot, and building the mapping function between knee and hip by imitating animal's motion.
冗余自由度常被用来实现机器人躲避障碍、避免奇异位形、增加灵活性以及优化某些动力学指标等目的。
Kinematics redundancy of robot have been used to avoid obstacle, singularity, increase dexterity and optimize other dynamic characters.
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