这是一个行走机器人，双足，高约4米。
This is a robotic walking machine, bipedal, about 4 meters tall.
最后，重点分析了该四足机器人双侧腿部进行步态切换时的行走状态，总结出了其速度曲线突变的原因。
The analysis of the walking state of bilateral leg was focused on in gait switching. The reason of velocity mutation was summarized.
提出了一种基于多传感器信息和实时修正算法的双足机器人分级递阶行走控制结构。
The hierarchical control system integrated with a direct and real time modified algorithms for biped robot based on information obtained from some sensors was described.
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